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Six-Degrees-of-Freedom (6-DOF) Work Object Positional Calibration Using a Robot-Held Proximity Sensor
Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity.
Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity.
2013 (English)In: Machines, Vol. 1, no 2, 63-80 p.Article in journal (Refereed) Published
Abstract [en]

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.

Place, publisher, year, edition, pages
2013. Vol. 1, no 2, 63-80 p.
National Category
Engineering and Technology
Research subject
Engineering Science with specialization in Science of Electricity
Identifiers
URN: urn:nbn:se:uu:diva-212667DOI: 10.3390/machines1020063OAI: oai:DiVA.org:uu-212667DiVA: diva2:678812
Available from: 2013-12-13 Created: 2013-12-13 Last updated: 2017-12-07
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Publisher's full texthttp://www.mdpi.com/2075-1702/1/2/63

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Hultman, ErikLeijon, Mats

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