Objective
Optotrac is an optical and noncontact 3-dimensional motion monitoring instrument. It has been designed primarily for the high accuracy measurements of the complex and rapid movement of industrial robots. It is portable and easy to set-up. It uses sophisticated software, is low cost and highly accurate: 0.025% of up to 125 cubic metres in volume.
An optical, noncontact 3-dimensional motion tracking instrument has been designed primarily for the high accuracy, high speed measurement of the complex and rapid movements of industrial robots.
The system applies a laser tracking triangulation technique to produce precise and absolute coordinate measurements of a moving optical target, mounted on the robot manipulator. The target, a novel precision cat's eye design, provides maximum freedom of motion to the robot. This and other features enable the performance of a robot to be tested in its normal environment over its complete working volume with ease and speed using a single instrument set up. The system is fully portable, selfcalibrating and provides extensive interfacing capability. The instrument was tested in a laboratory with poor environmental controls in terms of air draughts, temperature fluctuations and mains supply. Applying the procedures defined in ISO 9283 it was found to achieve repeatability levels better than +/-18 micrometres and an accuracy of +/-60 micrometres. It was also found to be capable of following its target at speeds exceeding 8 metres/second and acceleration exceeding 14g.
PROJECT MTR00071 PROJECT DEFINITION The development and application of industrial robots is accelerating rapidly. This causes an increased need for testing, in particular in terms of movement accuracy and repeatability. The objective of the project was to produce a portable calibration system able to operate on the shop floor and cause minimum disruption of the production. RESULTS In a first step, feasibility studies were given to four competing proposers and were assessed by a group of experts from industries which either manufacture or utilize robots. They considered that the system to be developed should: 1. be non contacting and not require the removal of either the robot and effector of fitting and fixtures in the working volume; 2. be capable of giving information not only upon the position of the robot and effector to within 0.05 mm, for a 1 cubic meter working volume, but also upon its orientation to within l when the robot is moving at up to 3 ms; 3. be demonstrably free of environmental effects such as vibration and thus capable of following tool oscillations of up to 50 Hz.
A device, based upon triangulation and laser tracking by up to 4 sub-systems, was selected for development at the University of Surrey UK. This was operational in late 1988 and was demonstrated to more then meet the specification given above. In 1989 full software for testing to the draft ISO standard for robot evaluation became available and the device was patented by the Commission of the European Communities. Any commercial user may apply to acquire a licence for the system.
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