Application of Laser-based Angle Measurement Method in Positioning of Robotic End-Effector

Abstract

A novel method for measuring the angle between the end surface of the robotic end-effector and the measured plane is proposed. The laser-based angle measurement method can accurately positions the robot end-effector. The technology combines the laser-based ranging principle with the motion control technology: By analyzing the ranging data of the ranging sensor under specific motion, we can find the corresponding change law to calculate the angle between the surface of the end-effector and the measured plane, which can improve the positioning accuracy of the inspection work. The experimental results show that the angular relationship between the two planes can be accurately measured by the method. Further, compared to other methods, this method has higher measurement accuracy when using the same ranging sensor.