Servo-based High-speed Alignment Software using EGM Interface
Yingjie Qian, Diamond Dong · 2023
This paper introduces a new High-speed Alignment Software adopting Servo-based approach. It builds on the External Guided Motion (EGM) interface of ABB robots. A novel framework for data fusion and servo is proposed with the emphasis on its improvement to traditional approaches and adaptability to sensors with low frame rate (around 10Hz). Auto spatial- and time-synchronization functions help user to deploy the software with less effort and expertise. This software can be applied in both static alignment application and target tracking (dynamic alignment) cases. Experiment results show that accuracy for static alignment can be improved by 50% and time consumption reduced by 70%. And error for dynamic alignment is still at the same level when sensor frame rate is reduced from 200Hz to 15Hz. The proposed solution can be applied in various applications including 3D gluing, fly-picking and other tasks requiring ultra-high precision.