NDLI: Method and system for robot end effector path correction using 3-D ultrasound sensors

Content Provider	IEEE Xplore Digital Library
Author	Veryba, Y. Kourtch, L. Verigo, B. Murashko, V.
Copyright Year	2000
Description	Author affiliation: Dept. of Mech. Eng., Belarussian State Polytech. Acad., Minsk, Byelorussia (Veryba, Y.)
Abstract	A method and system for correcting a preprogrammed robot end effector path to reduce the kinematic error are developed. The approach used in the method is to mount 3D ultrasound position sensor on the robot end effector and compute 3D Cartesian position of this sensor using 1D range measurements between the senders and an array of ultrasound receivers at fixed, predetermined positions. The method and system allow speedy correction of a robot path with economical usage of computer resources. The method includes steps of sensing and measuring path offsets between the idealized end effector location and the actual location of the manipulator end effector at a plurality of waypoints. Then, after appropriate calculations, the method includes the steps of correcting the coordinates of waypoints within the preprogrammed path, transforming the preprogrammed path coordinates into machine control coordinates, and providing a controller for the robot manipulator with such machine control coordinates. A 3D ultrasound position sensor used in the method provides low-cost, high precision measurements of the Cartesian position of a robot end effector within the robot workspace.
Starting Page	1240
Ending Page	1243
File Size	325991
Page Count	4
File Format	PDF
ISBN	078035995X
DOI	10.1109/WCICA.2000.863441
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-06-26
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	End effectors Robot sensing systems Robot kinematics Sensor arrays Ultrasonic imaging Ultrasonic variables measurement Position measurement Manipulators Machine control Error correction
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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