ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 3P1-V01
会議情報
3P1-V01 四つの小型エンコーダによる0.5μmの分解能を有する三軸精密距離計測システムの開発(フレキシブルロボット・メカニズム)
渕脇 大海大井 章生
著者情報
会議録・要旨集 フリー

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抄録
Precision and accuracy of the last one step is very important for precise work. Visual feedback technology with CCDcamera is powerful method to measure the robots' positions, however the measuring speed is only 0.1 second if we use 500M-pixel-camera. That is the reason why the visual feedback technology is not good enough for controlling the robot high speed because we cannot measure velocity with sufficient resolution. Optical linear encoders have attracting performances because their measuring speed is very fast, over 1m/s, with sufficient measuring resolution, less than 0.5 μm. However, there are almost no reports that show the design of integrated three-degrees-of-freedom (3DoF) inner position sensors within one step-motion for those precise mobile mechanisms. In this research, we present a newly proposed design of the integrated 3DoF inner position sensor. We also explain how to obtain 3DoF displacements from the four measured distances.
著者関連情報
© 2014 一般社団法人 日本機械学会
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