퍼셉트론 센서를 이용한 로봇의 센서 위치 캘리브레이션

Abstract

선형 레이저-비젼 센서인 'Perceptron TriCam Contour' 센서는 로봇에 부착되어, 로봇의 위치 보정 또는 부품 검사 등 다양한 로봇 응용에 사용된다. 본 논문에서는, 로봇에 퍼셉트론 센서를 부착하여 정밀 사용을 할 수 있도록 센서 위치 캘리브레이션 알고리즘을 제시한다. 제시된 알고리즘은 로봇 관절 센서값과 특별하게 고려하여 정밀 제작된 지그에 대한 퍼셉트론 센서의 측정값을 이용하여 산업 환경에서 바로 적용 가능한 장점이 있다. 개발된 알고리즘은 현대 7602 AP 로봇을 이용하여 실실험한 결과 퍼셉트론의 측정 정밀도(1.4㎜ 이하)를 향상시킴으로써 그 유용성을 입증하였다.

A linear laser-vision sensor called 'Perceptron TriCam Contour' is mounted on an industrial robot and often used for the various application of the robot such as the position correction and the inspection of a part. In this paper, a sensor center position calibration is presented for the best accurate use of the robot-Perceptron system. The obtained algorithm is suitable for on-site calibration in an industrial application environment. The calibration algorithm requires the joint sensor readings, the Perceptron sensor Measurements on a specially devised jig which is essential for this calibration process. The algorithm is implemented using Hyundai 7602 AP robot such that the Perceptron's measurement accuracy is increased up to less than 1.4 ㎜.

A linear laser-vision sensor called 'Perceptron TriCam Contour' is mounted on an industrial robot and often used for the various application of the robot such as the position correction and the inspection of a part. In this paper, a sensor center position calibration is presented for the best accurate use of the robot-Perceptron system. The obtained algorithm is suitable for on-site calibration in an industrial application environment. The calibration algorithm requires the joint sensor readings, the Perceptron sensor Measurements on a specially devised jig which is essential for this calibration process. The algorithm is implemented using Hyundai 7602 AP robot such that the Perceptron's measurement accuracy is increased up to less than 1.4 ㎜.