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Six-Degrees-of-Freedom (6-DOF) Work Object Positional Calibration Using a Robot-Held Proximity Sensor

机译：使用机器人控制的接近传感器的六自由度（6-DOF）工作对象位置校准

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摘要

Industrial automation has been recognized as a fundamental key to build and keep manufacturing industries in developed countries. In most automation tasks, knowing the exact position of the objects to handle is essential. This is often done using a positional calibration system, such as a camera-based vision system. In this article, an alternative six-degrees-of-freedom work object positional calibration method using a robot-held proximity sensor, is presented. A general trigonometry-based measurement and calculation procedure, which, step-by-step, adjusts a work object coordinate system to the actual work object position, is explained. For suitable robot tasks and work object geometries, the benefits with the presented method include its robustness, large work area and low investment cost. Some drawbacks can be longer cycle time and its limited capacity to handle unsorted and complicated objects. To validate the presented method, it was implemented in an experimental robot setup. In this robot cell, it was used to calibrate the position of a stator section work object, which is used in the Uppsala University Wave Energy Converter generator. Hereby the function of the positional calibration procedure was validated. Sufficient positioning accuracy for the stator winding task was achieved and theoretically validated based on the experiments.
机译：工业自动化已被认为是在发达国家建立和保持制造业的基本关键。在大多数自动化任务中，了解要处理的对象的确切位置至关重要。通常使用位置校准系统（例如基于摄像头的视觉系统）来完成此操作。在本文中，提出了使用机器人手持式接近传感器的另一种六自由度工作对象位置校准方法。解释了基于三角的常规测量和计算过程，该过程逐步将工作对象坐标系调整到实际工作对象位置。对于合适的机器人任务和工作对象的几何形状，所提出的方法的优点包括其坚固性，较大的工作区域和较低的投资成本。一些缺点可能是更长的循环时间，以及处理未分类和复杂物体的能力有限。为了验证所提出的方法，它是在实验性机器人设置中实施的。在该机器人单元中，它用于校准定子截面工作对象的位置，该对象用于乌普萨拉大学波能转换器发电机。从而验证了位置校准程序的功能。通过实验获得了足够的定子绕组定位精度，并在理论上进行了验证。

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