The Position and Orientation Measurement of Multi-axis Machine Utilizing Vision Technology

• Main Authors: KUO-FU HSU, 徐國富
• Other Authors: Ming Chang
• Format: Others
• Language: zh-TW
• Published: 2001
• Online Access: http://ndltd.ncl.edu.tw/handle/50308218840976740336

碩士 === 中原大學 === 機械工程研究所 === 89 === A technique for the measurements of the poisition and orientation on the multi-axis machine utilizing vision techonology has be developed. A dual CCD-based coordinate measuring system was established with the use of multi-layer 2D mapping function and coordinate transformation method. This system can locate the position of the characteric point on the multi-axis machine in a specific 3D space and calculating the poisition and orientation of the multi-axis machine. When the measurable 3D space in the measurement sensor with a range of depth（X axis）50 mm, width（Y axis）40 mm, and（Z axis）50 mm was specified, the positioning errors for a characteric point in X, Y, and Z axis were 0.063 mm, 0.071 mm, and 0.053 mm, respectively. Measurements were repeated ten times, the measurement repeatability in X, Y, and Z axis were 0.012 mm, 0.023 mm, and 0.020 mm, respectively. Beside, orientation cosine errors in axis X were（0.0005, 0.0018, 0.0017）, in Y（0.0018, 0.0003, 0.0018）, and in Z（0.0018, 0.0018, 0.0007）, respectively. Experiments were also executed with a Robot（ABB IRB 140）. The positioning errors and repeatability in coordinate X were 0.106 mm and 0.032 mm, in Y 0.112 mm and 0.028 mm, and in Z 0.117 mm and 0.048 mm, respectively.