An Optical Measurement System for High Accuracy Positioning of Robots

Abstract

This paper describes a system for high accuracy measurement of robot axis position using CCD image sensors and a set of laser-beams driven by an additional motor. The system works during normal operation such that the measurements can be used for axis control. The principle is explained on a single flexible link. With the given system of sensors and control, it is possible to realize a robot with high absolute positional accuracy.