Machines 2013, 1(2), 63-80; doi:10.3390/machines1020063
Article

Six-Degrees-of-Freedom (6-DOF) Work Object Positional Calibration Using a Robot-Held Proximity Sensor

Received: 30 May 2013; in revised form: 31 July 2013 / Accepted: 10 August 2013 / Published: 23 August 2013
(This article belongs to the Special Issue Advances and Challenges in Manufacturing Automation)
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Abstract: Industrial automation has been recognized as a fundamental key to build and keep manufacturing industries in developed countries. In most automation tasks, knowing the exact position of the objects to handle is essential. This is often done using a positional calibration system, such as a camera-based vision system. In this article, an alternative six-degrees-of-freedom work object positional calibration method using a robot-held proximity sensor, is presented. A general trigonometry-based measurement and calculation procedure, which, step-by-step, adjusts a work object coordinate system to the actual work object position, is explained. For suitable robot tasks and work object geometries, the benefits with the presented method include its robustness, large work area and low investment cost. Some drawbacks can be longer cycle time and its limited capacity to handle unsorted and complicated objects. To validate the presented method, it was implemented in an experimental robot setup. In this robot cell, it was used to calibrate the position of a stator section work object, which is used in the Uppsala University Wave Energy Converter generator. Hereby the function of the positional calibration procedure was validated. Sufficient positioning accuracy for the stator winding task was achieved and theoretically validated based on the experiments.
Keywords: positional calibration; industrial robot; proximity sensor; manufacturing automation; electric machine assembly
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MDPI and ACS Style

Hultman, E.; Leijon, M. Six-Degrees-of-Freedom (6-DOF) Work Object Positional Calibration Using a Robot-Held Proximity Sensor. Machines 2013, 1, 63-80.

AMA Style

Hultman E, Leijon M. Six-Degrees-of-Freedom (6-DOF) Work Object Positional Calibration Using a Robot-Held Proximity Sensor. Machines. 2013; 1(2):63-80.

Chicago/Turabian Style

Hultman, Erik; Leijon, Mats. 2013. "Six-Degrees-of-Freedom (6-DOF) Work Object Positional Calibration Using a Robot-Held Proximity Sensor." Machines 1, no. 2: 63-80.

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