System and method for measuring coordinate using multi-joint arm
First Claim
1. A multi-joint coordinate measuring system comprising:
- a support member;
a multi-joint measuring arm having a first end for installation of a probe and a second end for attachment to the support member, the arm including;
a head member for holding the probe;
a first link;
a second link;
a wrist joint for providing a bending motion between the head member and the first link;
an elbow joint for providing a bending motion between the first link and the second link; and
a shoulder joint for providing a bending motion between the second link and the support member;
a processor configured to produce a three-dimensional coordinate corresponding to a position of the probe based on an angle of each joint of the measuring arm; and
a warning indicator that warns a user in response to a determination of an angle between the first and second links, a determination of a distance from a supporting point of the measuring arm to a head point of the measuring arm, and a detection of at least one of first and second conditions, the first condition being that the determined angle between the first and second links exceeds a first value and the second condition being that the determined distance from the supporting point of the measuring arm to the head point of the measuring arm exceeds a second value.
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0 Petitions
Accused Products
Abstract
Methods and systems for realizing accurate coordinate measurement using a multi-joint measuring arm. A system includes a support member, a multi-joint measuring arm having a first end attached to the support member and a second end at which a probe can be installed, and a processor configured to produce a three-dimensional coordinate corresponding to a position of the probe based on an angle of each joint of the measuring arm. A parameter concerning a posture of the measuring arm is detected exceeding a prescribed value, and a user is warned in accordance with a result of the detection. The prescribed value has been determined, for example, in accordance with a probability that a measurement error due to a user action pulling the measuring arm away from the support member becomes out of an allowable range.
120 Citations
29 Claims
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1. A multi-joint coordinate measuring system comprising:
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a support member; a multi-joint measuring arm having a first end for installation of a probe and a second end for attachment to the support member, the arm including; a head member for holding the probe; a first link; a second link; a wrist joint for providing a bending motion between the head member and the first link; an elbow joint for providing a bending motion between the first link and the second link; and a shoulder joint for providing a bending motion between the second link and the support member; a processor configured to produce a three-dimensional coordinate corresponding to a position of the probe based on an angle of each joint of the measuring arm; and a warning indicator that warns a user in response to a determination of an angle between the first and second links, a determination of a distance from a supporting point of the measuring arm to a head point of the measuring arm, and a detection of at least one of first and second conditions, the first condition being that the determined angle between the first and second links exceeds a first value and the second condition being that the determined distance from the supporting point of the measuring arm to the head point of the measuring arm exceeds a second value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A multi-joint coordinate measuring system comprising:
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a support member; a multi-joint measuring arm having a first end for installation of a probe and a second end for attachment to the support member, the arm including; a head member for holding the probe; a first link; a second link; a wrist joint for providing a bending motion between the head member and the first link; an elbow joint for providing a bending motion between the first link and the second link; and a shoulder joint for providing a bending motion between the second link and the support member; a processor configured to produce a three-dimensional coordinate corresponding to a position of the probe based on an angle of each joint of the measuring arm; a counter balance, provided in association with the shoulder joint, for generating a force raising the second link on a side of the elbow joint against gravity; and a warning indicator that warns a user in response to a detection of a condition that the shoulder joint provides the second link with a bending motion beyond a range determined based on the force generated by the counter balance. - View Dependent Claims (11, 12)
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13. A method of controlling measurement by a multi-joint coordinate measuring system, the system including a support member, a multi-joint measuring arm having a first end attached to the support member and a second end, a probe installed at the second end of the measuring arm, and a processor capable of producing a three-dimensional coordinate corresponding to a position of the probe based on an angle of each joint of the measuring arm, the method comprising:
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storing a prescribed value concerning a posture of the measuring arm, the prescribed value having been determined such that a measurement error due to a user action pulling the measuring arm away from the support member would become within an allowable range; determining a parameter concerning the posture of the measuring arm; detecting the determined parameter exceeding the stored prescribed value; and warning a user in accordance with a result of the detecting. - View Dependent Claims (14, 15, 16, 17, 18)
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19. A method of controlling measurement by a multi-joint coordinate measuring system, the system including a support member, a multi-joint measuring arm having a first end attached to the support member and a second end, a probe installed at the second end of the measuring arm, a processor capable of producing a three-dimensional coordinate corresponding to a position of the probe based on an angle of each joint of the measuring arm, and a counter balance configured to generate a force raising the measuring arm against gravity, the method comprising:
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storing a prescribed value concerning a posture of the measuring arm, the prescribed value having been determined such that a measurement error due to a user action moving the measuring arm with a chance in the force applied to the measuring arm by the counter balance would become within an allowable range; determining a parameter concerning the posture of the measuring arm; detecting the determined parameter exceeding the stored prescribed value; and warning a user in accordance with a result of the detecting. - View Dependent Claims (20, 21, 22)
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23. A multi-joint coordinate measuring system comprising:
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a support member; a multi-joint measuring arm having a first end for installation of a probe and a second end for attachment to the support member, the arm including; a head member for holding the probe; a first link; a second link; a wrist joint for providing a bending motion between the head member and the first link; an elbow joint for providing a bending motion between the first link and the second link; and a shoulder joint for providing a bending motion between the second link and the support member; a counter balance, provided in association with the shoulder joint, for generating a force raising the second link on a side of the elbow joint against gravity; and a processor configured to input an angle of each joint of the measuring arm into a formula to produce a three-dimensional coordinate corresponding to a position of the probe, the formula including a term for correcting an error due to a change of the force generated by the counter balance. - View Dependent Claims (24, 25)
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26. A method of measuring a three-dimensional coordinate by a multi-joint coordinate measuring system, the system including a support member, a multi-joint measuring arm having a first end attached to the support member and a second end, a probe installed at the second end of the measuring arm, and a counter balance configured to generate a force raising the measuring arm against gravity, the method comprising:
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inputting a plurality of joint angle data from the measuring arm; calculating from the input data a three-dimensional coordinate corresponding to a position of the probe, by a formula including a term for correcting an error due to a change of the force generated by the counter balance; and outputting the three-dimensional coordinate.
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27. A multi-joint coordinate measuring system comprising:
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a support member; a multi-joint measuring arm having a first end attached to the support member, a second end at which a probe can be installed, and a plurality of joints; a memory that outputs a prescribed value concerning a posture of the measuring arm, the prescribed value having been determined such that a measurement error due to a user action pulling the measuring arm away from the support member would become within an allowable range; a processor configured to produce a three-dimensional coordinate corresponding to a position of the probe based on an angle of each joint of the measuring arm, to determine a parameter concerning the posture of the measuring arm, and to detect the determined parameter exceeding the prescribed value of the memory; and a warning indicator configured to warn a user in accordance with a result of the detection by the processor.
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28. A multi-joint coordinate measuring system comprising:
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a support member; a multi-joint measuring arm having a first end attached to the support member, a second end at which a probe can be installed, and a plurality of joints; a counter balance configured to generate a force raising the measuring arm against gravity; a memory that outputs a prescribed value concerning a posture of the measuring arm, the prescribed value having been determined such that a measurement error due to a user action moving the measuring arm with a chance in the force applied to the measuring arm by the counter balance would become within an allowable range; a processor configured to produce a three-dimensional coordinate corresponding to a position of the probe based on an angle of each joint of the measuring arm, to determine a parameter concerning the posture of the measuring arm, and to detect the determined parameter exceeding the prescribed value of the memory; and a warning indicator configured to warn a user in accordance with a result of the detection by the processor.
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29. A multi-joint coordinate measuring system comprising:
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a support member; a multi-joint measuring arm having a first end attached to the support member, a second end at which a probe can be installed, and a plurality of joints; a processor configured to produce a three-dimensional coordinate corresponding to a position of the probe based on an angle of each joint of the measuring arm; and a warning indicator that warns a user in response to a determination of a distance of the measuring arm'"'"'s reach and a detection of a condition that the determined distance exceeds a prescribed value.
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Specification