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- Kihlman, Henrik, et al.
(författare)
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Metrology-integrated industrial robots : calibration, implementation and testing
- 2004
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Ingår i: Proceedings of the 35th ISR (International Symposium on Robotics).
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Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- This paper presents integration of a metrology system and an industrial robot. The metrology system consists of a laser tracker that measures the distance to a prism with high accuracy and a camera that through photogrammetry measures the orientation of a reflector. Both laser prism and camera reflector is integrated to a 6D-Reflector that is attached close to the TCP of an industrial robot. Tracker and robot is connected to a PC on a TCP/IP network. The PC takes measurements with the tracker, and thereby compensates the robot to reach high absolute accuracy in the robot positioning (+/-50 μm). The 6D-Reflector has multi-functionality and simplifies calibration procedures. This paper explains the architecture of the system and the methods for calibration.
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