Position measuring apparatus for end effector of robot, measures distance between steel balls attached to fixing units on base and measured object respectively to compute distance of object from base

摘要

Fixing units (2,9) are provided in base (1) and object (7) whose position is measured. Steel balls (3,5) are mounted to the fixing units (2,9) respectively and connected through measuring device (6). Distance of the measured object from base is determined based on the distance between the balls. The distance of measured object from base is done for various positions of the measured object. An Independent claim is also included for positional error compensation method.