Calibration equipment and calibration method of a mechanical system
First Claim
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1. A calibration equipment of a mechanical system, the calibration equipment comprising:
- a light emitter, configured to emit a light beam;
a light sensing module, further comprising a carrier plate and a plurality of light sensing units located on the carrier plate, wherein the plurality of light sensing units receive the light beam and generate a plurality of image data;
an operating processor, configured to receive and process the plurality of image data and generate a plurality of calibrated kinematic parameters; and
a controller, configured to modify a plurality of motion commands according to the calibrated kinematic parameters transmitted via the operating processor, so as to simultaneously minimizing a plurality of deviations between the image data and the corresponding motion commands;
wherein the calibrated kinematic parameters include;
a calibrated emitter parameter, denoting a three-dimensional position and a direction of the light emitter;
a calibrated robot parameter, denoting a six-dimensional space conversion parameter of a robot arm; and
a calibrated sensor-robot parameter, denoting a six-dimensional space conversion parameter between the robot arm and the light sensing module.
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Abstract
A calibration equipment of a mechanical system includes a light emitter emitting a light beam, a light sensing module, and an operating module. The light sensing module includes a carrier plate, and a plurality of light sensing units located on the carrier plate. The plurality of light sensing units receive the light beam and generate a plurality of image data. The operating module receives the plurality of image data and generates a calibrated kinematic parameter.
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Citations
17 Claims
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1. A calibration equipment of a mechanical system, the calibration equipment comprising:
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a light emitter, configured to emit a light beam; a light sensing module, further comprising a carrier plate and a plurality of light sensing units located on the carrier plate, wherein the plurality of light sensing units receive the light beam and generate a plurality of image data; an operating processor, configured to receive and process the plurality of image data and generate a plurality of calibrated kinematic parameters; and a controller, configured to modify a plurality of motion commands according to the calibrated kinematic parameters transmitted via the operating processor, so as to simultaneously minimizing a plurality of deviations between the image data and the corresponding motion commands; wherein the calibrated kinematic parameters include; a calibrated emitter parameter, denoting a three-dimensional position and a direction of the light emitter; a calibrated robot parameter, denoting a six-dimensional space conversion parameter of a robot arm; and a calibrated sensor-robot parameter, denoting a six-dimensional space conversion parameter between the robot arm and the light sensing module. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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Specification