Programming of Industrial Robots Using a Laser Tracker

Abstract

This paper presents the use of a laser tracker for programming paths of industrial robots. The idea of operation, application, and the offered accuracy of the laser trackers are discussed. Then, the developed method of using a tracker for determining the path points of an industrial robot is presented. The requirements related to the developed method are indicated. The parameters of the industrial robot related to the repeatability and accuracy of the robots and the Absolute Accuracy option—increasing the accuracy—are characterized. The developed method is based on the accuracy of robots and the conversion of the position and orientation of individual coordinate systems. In the developed method, the robot is not used during programming and the programmer indicates the path points with the help of a retroreflector. The algorithm, which is the most important part of the developed method, has been implemented in the Rapid programming language to automate the programming process. This article provides an example of the use of the developed method to program the robot path during the grinding process. The advantages of the developed method are characterized and compared to existing solutions. In addition, the limitations and achieved accuracies are indicated.

Research on high-precision tracking and localization of industrial robots based on iGPS

“…When the detector receives the LED strobe signal, the time point t 0 is recorded, indicating the time point at which the measurement of the cycle begins, When the receiver receives the two infrared laser fanned beams, it records the time points t 1 and t 2 , and then calculates the normal vectors n 1(t1) and n 2(t2) for the two infrared laser fanned beams, respectively, when they trigger the receiver according to their recorded time points. From this process, the vector from the receiver to the transmitter can be calculated using equation (1).…”

“…Among them, many researchers and engineers have deeply integrated measurement equipment and industrial robots to achieve good measurement and positioning results. Szybicki et al describe how to program the path of an industrial robot using a laser tracker [1]. Cvitanic, Nguyen, and Melkote used a laser tracker to measure the deflection of the robot's end effector in comparative tests and optimized the robot's position for various milling scenarios using static and dynamic stiffness models [2].…”

Development of a Dedicated Application for Robots to Communicate with a Laser Tracker

“…The software presented in this paper was originally developed to communicate with ABB's industrial robots. While working on the aforementioned paper [37], an idea emerged to provide data transmission from a laser tracker. That article concerned using a laser tracker to program the paths of industrial robots, and there is no need to quote the results here.…”

“…The authors of article [37] developed a method of using a laser tracker to program paths of industrial robots. While working on this method, it turned out that it would be useful to develop a universal application that makes tracker data available to various types of robots.…”

Precision Denavit–Hartenberg Parameter Calibration for Industrial Robots Using a Laser Tracker System and Intelligent Optimization Approaches

“…An industrial robot integrates several advanced technologies including mechanics, electronics, interfaces, and control in its structure [ 1 ]. To perform precision positioning [ 2 ], assembly, peg-in-hole [ 3 , 4 , 5 , 6 , 7 ], object handling, and manipulation on a factory floor [ 8 ], it is required to integrate accurate robot forward kinematics (FK) into its control methodology [ 9 , 10 , 11 ]. There exist some uncertainties in industrial robot FKs, which decrease its operational accuracy.…”