TY - GEN
T1 - A laser calibration device for mini robots
AU - Legnani, Giovanni
AU - Gabrielli, Andrea
AU - Ousdad, Abdelmajid
AU - Fassi, Irene
AU - Ruggeri, Serena
AU - Fontana, Gianmauro
N1 - Publisher Copyright:
© Copyright 2015 by ASME.
PY - 2015
Y1 - 2015
N2 - The paper describes a new laser device conceived for surface scanning and more specifically for mini robot calibrations. The system is based on a laser triangulation sensor which is moved by an extremely accurate device to collect a set of 3D points lying on surfaces. If the surfaces belong to the gripper of a robot that must be calibrated and a sufficient number of points of this gripper are collected, the pose of the robot can be measured. If the robot is moved to several different configurations and the gripper poses are measured for each of them, it is possible to reconstruct the kinematics of the robot and calibrate it. The paper presents the theory and describes the design, tests and calibration of the laser instrumentation with a focus on the first experimental results. These results are obtained in a working cell including a vision system, a 4-dof (xyz,θ) mini robot and a 2-dof rotating platform.
AB - The paper describes a new laser device conceived for surface scanning and more specifically for mini robot calibrations. The system is based on a laser triangulation sensor which is moved by an extremely accurate device to collect a set of 3D points lying on surfaces. If the surfaces belong to the gripper of a robot that must be calibrated and a sufficient number of points of this gripper are collected, the pose of the robot can be measured. If the robot is moved to several different configurations and the gripper poses are measured for each of them, it is possible to reconstruct the kinematics of the robot and calibrate it. The paper presents the theory and describes the design, tests and calibration of the laser instrumentation with a focus on the first experimental results. These results are obtained in a working cell including a vision system, a 4-dof (xyz,θ) mini robot and a 2-dof rotating platform.
UR - http://www.scopus.com/inward/record.url?scp=84979030735&partnerID=8YFLogxK
U2 - 10.1115/DETC2015-46241
DO - 10.1115/DETC2015-46241
M3 - Conference contribution
AN - SCOPUS:84979030735
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 20th Design for Manufacturing and the Life Cycle Conference; 9th International Conference on Micro- and Nanosystems
PB - The American Society of Mechanical Engineers(ASME)
T2 - ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015
Y2 - 2 August 2015 through 5 August 2015
ER -