Abstract
This article presents a new and effective multi-sensor-based control strategy for high-accuracy/precision and high-efficiency automatic robot positioning in the field of industrial robot calibration. The strategy combines both coarsely visual servo and fine position-sensitive detector (PSD) servo control methods. In a large field of view, an image-based visual servo control system is employed to roughly guide the laser spot, which is from a single laser pointer attached to the end-effector of a robot to project to the segmented PSDs with a resolution of better than 0.1 µm. Once the laser spot is projected onto the active area of the PSD surface, the control will automatically be switched to the PSD feedback and servoing for fine positioning. An image/PSD-based servoing system has been presented. Based on the system, the controller design and switch logic of the hybrid servoing are given. The experimental results conducted on an ABB industrial robot IRB1600 verified the effectiveness of the developed visual/PSD hybrid servo controllers, as well as demonstrated that the high accuracy of 30 µm of robot positioning can be approached. The development of the hybrid control method and system has played a major role in achieving high-performance automatic robot calibration.
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