Position-Sensitive Detector (PSD) Guided Servoing Method for Industrial Robot Calibration

Abstract

This article presents our recently developed position-sensitive detector (PSD) guided servoing system for precise localization of industrial robots. The system is portable and affordable, and can position robot precisely so as to benefit further research on the calibration applications of industrial robots. To achieve highly precise position feedback, we have employed a high performance lateral-effect PSD with a resolution of 0.5 m. Based on the system kinematics and dynamics, a PSD guided servo (PSDGS) control method is then developed and simplified to be a planar motion control approach in which an on-line estimation of the transformation matrix between the PSD object and the robot base is applied. The experiments have been implemented on an ABB industrial robot IRB1600. The achieved results demonstrate that the mean localization precision of the industrial robot using the developed PSDGS method is totally better than 20 m.

Vibration measurement system based on position sensitive detector

“…Therefore, these characteristics make it especially suitable for the precise measurement of position, distance, displace, angle liquid concentration (Gao et al, 2001), solid hardness (Gao and Zhao, 2001a), relative parallelism measurement of two planes and other relevant physical variable (Gao and Zhao, 2001b). Moreover, it also has the applications of other industrial inspection and monitor (Sun, 2005;Cai, 2004;Tang and Fan, 1999;Wen and Liu, 2001;Liu et al, 2009;Khmaladze and Kim, 2008), such as optics position, angle measurement, control system, laser light beam calibration, automatic scope detection system, human body's movement and analysis system, robot vision, civil engineering, automatic focusing, high energy physical test and biomedicine, etc.…”