Laser Tracker Coordinate Alignment for 3D Robot Position Measurement
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Solution Overview
Problem
Existing robot systems face challenges in accurately measuring the position and posture of robots and process apparatuses in three-dimensional spaces, which affects their operational precision and control.
Innovation Solution
A position measurement system using a laser tracker and control apparatus to irradiate measurement light onto reflective members attached to movable bodies and process apparatuses, building a base coordinate system and generating position and posture information based on reflected light, enabling precise measurement and control of robot systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot system performs operations in three-dimensional space, then operational versatility is improved, but measurement precision deteriorates due to difficulty in accurately determining position and posture
Solution Approach 1:
The system divides the measurement task into multiple segments by using multiple reflective members (first reflective members on movable body, second reflective members on process apparatus, fourth reflective members in process space) that are independently measured and then integrated to build coordinate systems, enabling accurate 3D position and posture measurement
Solution Approach 2:
Reflective members serve as intermediaries between the laser tracker and the objects to be measured (movable body, process apparatus). The laser tracker irradiates measurement light onto these reflective members, which reflect the light back to the light receiving unit, enabling indirect but precise measurement of position and posture
2Measurement precision
If multiple reflective members are used to improve measurement accuracy, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The laser tracker is designed as a universal measurement device that can measure multiple types of reflective members (first reflective members, second reflective members, fourth reflective members) simultaneously, performing multiple measurement functions with a single apparatus to reduce overall system complexity
Solution Approach 2:
The control apparatus merges multiple measurement data streams from different reflective members into unified coordinate systems (base coordinate system, movable body coordinate system, process apparatus coordinate system), integrating complex measurements into a coherent framework that simplifies control
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate measurement and control of robot systems, improving the precision of robot operations in three-dimensional spaces by determining the position and posture of processing and measurement robots, workpieces, and transport apparatuses.
Implementation Method 1
a light receiving unit that optically receives reflected light of the measurement light
Data Source
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AI summary
A position measurement system is a position measurement system that is used with a robot system that positions a process apparatus for performing a predetermined process on an object, the position measurement system includes: a position measurement apparatus that emits measurement light and optically receives reflected light of the measurement light; and a control apparatus, the control apparatus control the position measurement apparatus t to irradiate a first reflective member, which is attached to a movable body on which the object is placed and which is movable, and a second reflective member attached to the process apparatus, with the measurement light; builds a base coordinate system based on the reflected light from the first reflective member; and generates position posture information, which indicates a position and a posture of the process apparatus in the base coordinate system, based on the reflected light from the second reflective member.