Overview
Multiple one-dimensional measurements of the distance to the measuring ball form the reliable basis for contact-free coordinate measurement.
The five laser triangulation sensors of the LaserLAB are set up so that their beams from different directions meet in a common centre. The directions of the laser beams are determined precisely by a factory calibration. Based on the directions and the measured distance of the individual sensors, surface points on the ball can be determined in three dimensions. This information can be used to calculate the position of the ball centre. After four measurements the first approximation for the TCP is obtained. This can be transferred to the robot controller at the touch of a button.
Further measurements are obtained simply by re-orientating the ball within LaserLAB. Generally 12 measurements are ample to reach a sufficiently high accuracy.
