PSD센서를 사용한 로보트 추적 오차의 실시간 측정에 관한 연구

An on-line measurement of robot tracking error via an optical PSD sensor

Direct measurement of the relative position between the end effector of robot and moving objects reduces difficulties caused by the joint encoder reading and transformation. For those purpose, the on-line sensing method using PSD sensor was developed in this paper. The sensor was calibrated on the precision table. Then, the relative position of a moving objects on the conveyor was measured while the robot was tracking the one.