Three dimensional coordinate measuring apparatus

  • US 5,402,582 A
  • Filed: 02/23/1993
  • Issued: 04/04/1995
  • Est. Priority Date: 02/23/1993
  • Status: Expired due to Term
First Claim
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1. A method of calibrating a three dimensional coordinate measuring system comprising (1) a movable arm having opposed first and second ends, said arm including a plurality of joints with each joint corresponding to a degree of freedom such that said arm is movable within a selected volume, each of said joints comprising a rotational transfer housing for housing position transducer means, said transducer means producing a position signal, said movable arm having six degrees of freedom;

  • (2) a support base attached to said first end of said movable arm;

    (3) a probe attached to said second end of said movable arm; and

    (4) electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position and orientation of said probe in a selected volume, the calibration method including the steps of;

    measuring predetermined positions and orientations with said movable arm to obtain known positioning data;

    processing said known positioning data through an optimization program to determine the relative misalignments and dimensions of components in said arm;

    optimizing said arm by incorporating said relative misalignments and dimensions in kinematic formulas for generating X, Y and Z values in an absolute coordinate system with respect to both position and orientation andwherein said optimizing step further includes compiling a calibration file for said arm containing said relative misalignments and dimensions.

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