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Proceedings Paper

Optical setup for assembly robot characterization
Author(s): Umberto Minoni; Franco Docchio; Rodolfo Faglia; Giovanni Legnani; Pier Luigi Magnani
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Paper Abstract

The paper deals with the subject of robot calibration. With particular reference to assembly robots, a brief introduction of the mathematical approach to the problem is presented. It is shown that two independent type of measurements can be carried out to obtain data for calibration. A first optical set-up is used to measure robot gripper orientations along straight trajectories. The system is based on laser triangulation. A second set-up is used to measure X,Y,Z position of the robot gripper programmed to follow a number of proper straight trajectories. The paper also presents some experimental results from the calibration of a commercial SCARA robot.

Paper Details

Date Published: 29 November 1993
PDF: 5 pages
Proc. SPIE 2063, Vision, Sensors, and Control for Automated Manufacturing Systems, (29 November 1993); doi: 10.1117/12.164962
Show Author Affiliations
Umberto Minoni, Univ. di Brescia (Italy)
Franco Docchio, Univ. di Brescia (Italy)
Rodolfo Faglia, Univ. di Brescia (Italy)
Giovanni Legnani, Univ. di Brescia (Italy)
Pier Luigi Magnani, Univ. di Brescia (Italy)

Published in SPIE Proceedings Vol. 2063:
Vision, Sensors, and Control for Automated Manufacturing Systems
Scott S. Breidenthal; Alan A. Desrochers, Editor(s)

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