ANGLE TRANSFER ERROR MEASURING DEVICE

Title:

ANGLE TRANSFER ERROR MEASURING DEVICE

Document Type and Number:

WIPO Patent Application WO/2021/059341

Kind Code:

A1

Abstract:

According to the present invention, a mark member is configured such that a first mark enters the field of view of a camera when the angle of an arm is in a first angle range, a second mark enters the field of view of the camera when the angle of the arm is in a second angle range, and both the first and second marks enter the field of view of the camera when the angle of the arm is in an intermediate angle range. The control device gradually moves the angle of the arm over the first angle range, the intermediate angle range, and the second angle range, captures an image of the mark member with the camera each time the arm moves, and acquires the detection angle of the arm detected by an encoder. Subsequently, the control device performs an image process for recognizing the first mark on the basis of the images captured in the first angle range and the intermediate angle range to obtain the actual angle of the arm, and recognizing the second mark on the basis of the images captured in the second angle range and the intermediate angle range to obtain the actual angle of the arm. Then, an angle transmission error is obtained on the basis of the actual angle and the detection angle for each movement of the arm.

Inventors:

FUJISHIRO TAKESHI (JP)

Application Number:

PCT/JP2019/037339

Publication Date:

April 01, 2021

Filing Date:

September 24, 2019

Export Citation:

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Assignee:

FUJI CORP (JP)

International Classes:

B25J13/08

Foreign References:

JP2010120110A	2010-06-03
JP2018120306A	2018-08-02
JP2018202608A	2018-12-27
JPH1080882A	1998-03-31