Calibration system for compensation of arm length variation of an industrial robot due to peripheral temperature change

• US 5,400,638 A
• Filed: 07/27/1994
• Issued: 03/28/1995
• Est. Priority Date: 01/14/1992
• Status: Expired due to Term

• Current Assignee: Korea Advanced Institute of Science and Technology
• Original Assignee: Korea Advanced Institute of Science and Technology
• Inventors: Kim, Mun Sang
• Primary Examiner(s): Raevis, Robert
• Application Number:
  US08/281,233
• Time in Patent Office: 244 Days
• Field of Search: 73/1 J, 901/47, 33/567, 33/502, 33/544
• US Class Current: 73/1.79
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G05B 2219/40613 Camera, laser scanner on end effector, hand eye manipulator, local
• CPC Class Codes: G05B 2219/49219 Compensation temperature, thermal displacement

Abstract

A calibration system for compensating variation of robot arm length of an industrial robot because of temperature change. The system comprises a temperature variation insensible calibration jig having a pair of rectangular hexahedrons of different sizes which are combined with each other above and below and have a plurality of measuring points marked thereon. A noncontact sensor unit relatively measures a teach-in measuring point of the calibration jig and compares the measured value of the teach-in point with initially inputted value thereof, thereby calculating the variation of the robot arm length caused by the temperature change. The noncontact sensor unit includes a camera for measuring a center of the teach-in measuring point and a laser displacement sensor (LDS) for measuring relative distance between the robot hand and the teach-in measuring point and sensing three-dimensional relative error. The arm length variation is calculated, using differential value between the initially inputted value and the measured value of the teach-in measuring point, in accordance with the method of least squares.

Claims

1. A calibration system for compensating variation of robot arm length of an industrial robot due to temperature change comprising:

a calibration jig insensitive to temperature variation having a plurality of measuring points; and

a noncontact sensor unit for relatively measuring a teach-in measuring point of said calibration jig and comparing the measured value of said teach-in point with an initially preset reference value thereof, thereby identifying the differential change of the robot arm length parameter due to the temperature change, said noncontact sensor unit including a camera and a laser displacement sensor which are mounted on component of said industrial robot.

2. A calibration system according to claim 1, wherein said calibration jig comprises a pair of rectangular hexahedrons having different sizes and combined with each other above and below, and said measuring poinsts are black points marked on surfaces of said rectangular hexahedrons.

3. A calibration system according to claim 1, wherein said camera of the noncontact sensor unit measures a center of said teach-in measuring point of the calibration jig and said laser displacement sensor measures relative distance between said robot hand and a calibration jig surface, on which said teach-in measuring point is marked, and senses three-dimensional relative error.

4. A calibration system according to claim 1, wherein the differential change of the robot arm length parameter is identified in accordance with the method of least squares by using differential value between an initially preset reference value of a teach-in-measuring point marked on the calibration jig and a measured value at the same point.