CompuGauge: Robot Performance Analysis System (ISO-9283)
The CompuGauge measurement hardware consists primarily of two portable "triangulation beams", from which the four measurement cables
originate. At setup, the "triangulation beams" are simply placed side by side, while the Referencing software leads the
operator through an easy and automatic site-calibration of the System in a matter of minutes. The System does not require the
use of a dedicated, stand-alone, bulky controller. Instead, a compact data-acquisition box allows the measurement hardware to
be connected directly to a standard PC or laptop computer through the use of the latest USB port technology. Several digital
inputs and outputs are also available through the USB data-acquisition box, allowing the obtained measurement data to be synchronized
with any outside signals and sources, for example a spot weld gun or sealant equipment.
Measurement, Viewing and Analysis Software
Windows™-based software operating the CompuGauge System consists of three distinct modules that can be accessed simultaneously or
separately: (1) the On-line Measurement module, (2) the Off-line Viewing module, and (3) the Analysis module. The On-line Measurement
module allows the operator to manually or automatically record the robot's x,y,z position statically as well as dynamically.
The Off-line Viewing module offers the ability to visually inspect the recorded robot positions and paths in many different ways.
Finally, the Analysis module contains a series of tests which can be performed on the recorded data to verify Accuracy, Repeatability,
Cornering, Warm-Up Drift, etc. These tests include both internationally recognized standards: ISO 9283 and ANSI/RIA R15.05-1/2.
CompuGauge software offers various tools and features. For example, the coordinate frame of the CompuGauge System can easily
be aligned with the robot's base frame, so that any subsequent measurement is automatically expressed in the robot's frame.
Furthermore, measured Robot Paths and Points can be fully rotated and translated in 3D space, offering visualization from any perspective;
they can also be zoomed on, up to increments of 1 mm. A measured Path can be quickly edited to remove undesirable portions for
the purpose of further analysis, such as curve fitting for example. The CompuGauge software also provides the use of cursors
that can be placed along different Paths in order to quickly determine deviations, both in space and in time. Many more features are
included as well....