특정점 측정에 근거한 도어 장착 로봇의 위치 보정 시스템 개발: Part II - 측정및 구현

Development of position correction system of door mounting robot based on point measure: Part ll-Measurement and implementation

In this paper, a position correction system of industrial robot for door-chassis assembly tast is developed in connection with the position correction algorithm shown in Part I. Tow notches and a hole of auto chassis are selected as the reference measure points and a vision based error detection algorithm is devised to measure in accuracy of less than 0.07mm. And also, the transformation between base and tool coordinates of the robot is shown to send the suitable correction quantities caaording to robot's option. The obtained algorithms were satisfactorily implemented for a real door-chassis model such that the system could accomplish visually acceptable door-chassis assembly task.