Robot position correction.

[scgorlewar]

 
Dear Friends,
I need all your valuable comments.
Have any one used laser measurement sensor for correction in robot cordinate?
I am thinking of using 3 laser sensor to calculate deviation in X Y and Z direction. I have now values of in X Y and Z from laser sensor, but how can i calculate the deviation in terms of x y z w p r ?

Please guide me how to move forward with project.

Thanks in advance.

Sachin

[scgorlewar]

Dear Friends,
How can i transfer the correction in coordinates to Robot?
What are the softwares needed?
Can any one please give me a simple example of how to write code?
 
Thanks in advance.

Sachin

[TylerRobertson]

So you have the just the sensors themselves already and you're reading xyz deviation from them? You will need some sort of absolute origin for one

here's what I think is a patent of a similar situation: http://www.freepatentsonline.com/6078846.html

there has been a lot of work put into robot positional calibration

[DanH]

Also, you can try looking at robot calibration information at www.dynalog-us.com.

[[fanucker]]

Hello, but do you need an absolute accuracy improvement or just an offset in terms of coordinates?
In first case Dynalog or Leica are ok, in second case, can you be more clear?

[scgorlewar]

I need a offset in terms of coordinates.

Application in brief.
Robot is handling component, which is oval on shape.
After picking the component orientation may get hampered by some 5mm due to physical constraints in any direction as it is contour.
I need to correct the deviation in orientation before going to actual application which requires 2mm accuracy in orientation of component.

Thanks for going through application will be happy to hear suggestions.

Sachin

[DanH]

Hi Sachin,
Dynalog has several tools to communicate with robots, send updated postions (with corrected orientation), etc.  Dynalog has worked with laser measurement sensors doing exactly what you describe.  I suggest that you contact them to review your application in more detail.  Check out www.dynalog-us.com

Dan

[vmnaeim]

Hi dear scgorlewar:

I interested in working on theory of your need. So spent a lot of time to create formulation for this work. I has Drawn a sketch to demonstrate my comment and write down my formulation and my sketch in attached PDF file.

I wish it was instrumental for you.

[scgorlewar]

Thank you very much vmnaeim,
I was looking for the same stuff.
well now facing problem how to put thiese formulas in robot controller.
Well thanks ones again.

Sachin

[vmnaeim]

Hi:

I have used just for + - * / operators  that are available in robot program. You can use robot registers for your variables.
Bast regards.

[scgorlewar]

Hi Vmnaeim,
Did you tried this on oval or ellipticle shape.
i am trying this on a petrol tank of motor cycle which is contour,not sure whether it will work.

Thanks
sachin

[Dr.Fanuc]

Hey Sachin:
You can try getting in touch with Difacto Robotics & Automation based in Bangalore. May be you'll find some help.
 

[vmnaeim]

Hi
My method is path independent. because I just calculate the tool offset in initial point.
I need to know you need to compensate the tool or the work dimensional tolerates and Is this offset variable along your movement path?
If your path changes Du to work dimensional tolerates robot can't calculate required offset for compensation and you have to use a mechanical self aligned Springy compensator for your tool or work.

If your application is motor cycle tank welding, so why you need tool position correction? I have welded accurate crevices of similar parts with out any problem.