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1. (WO1997006410) METHOD AND APPARATUS FOR TRACKING POSITION AND ORIENTATION OF A STYLUS AND FOR DIGITIZING A 3-D OBJECT
Latest bibliographic data on file with the International Bureau

Pub. No.: WO/1997/006410 International Application No.: PCT/US1996/012448
Publication Date: 20.02.1997 International Filing Date: 29.07.1996
Chapter 2 Demand Filed: 05.03.1997
IPC:
B25J 9/16 (2006.01) ,G01B 21/04 (2006.01) ,G01B 5/008 (2006.01) ,G05B 19/42 (2006.01) ,G06F 3/033 (2006.01)
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
16
Programme controls
G PHYSICS
01
MEASURING; TESTING
B
MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
21
Measuring arrangements or details thereof in so far as they are not adapted to particular types of measuring means of the other groups of this subclass
02
for measuring length, width, or thickness
04
by measuring coordinates of points
G PHYSICS
01
MEASURING; TESTING
B
MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
5
Measuring arrangements characterised by the use of mechanical means
08
for measuring diameters
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19
Programme-control systems
02
electric
42
Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
G PHYSICS
06
COMPUTING; CALCULATING; COUNTING
F
ELECTRIC DIGITAL DATA PROCESSING
3
Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
01
Input arrangements or combined input and output arrangements for interaction between user and computer
03
Arrangements for converting the position or the displacement of a member into a coded form
033
Pointing devices displaced or positioned by the user; Accessories therefor
Applicants:
IMMERSION HUMAN INTERFACE CORPORATION [US/US]; 2158 Paragon Drive San Jose, Ca 95131, US
Inventors:
ROSENBERG, Louis, B.; US
SCHENA, Bruce, M.; US
BRAVE, Scott, B.; US
JACKSON, Bernard, G.; US
Agent:
HICKMAN, Paul, L.; P.O. Box 61059 Palo Alto, CA 94306, US
WEAVER, Jeffrey, K.; Hickman Beyer & Weaver P.O. Box 61059 Palo Alto, CA 94306, US
Priority Data:
08/512,08407.08.1995US
Title (EN) METHOD AND APPARATUS FOR TRACKING POSITION AND ORIENTATION OF A STYLUS AND FOR DIGITIZING A 3-D OBJECT
(FR) PROCEDE ET DISPOSITIF DE SUIVI DE POSITIONNEMENT ET D'ORIENTATION D'UN STYLET ET DE NUMERISATION D'UN OBJET TRIDIMENSIONNEL
Abstract:
(EN) A method and apparatus for measuring three-dimensional (3-D) coordinates. A 3-D object can be digitized into a mesh representation manipulable by a computer system (18) by tracing a stylus of a probe apparatus (22) over surfaces of the object. The probe apparatus includes an arm having a series of linkages and joints. The arm can be assembled by placing th ejoints of the arm in joint fixtures a desired distance and angle apart and bonding the joints to a linkage. The probe apparatus is calibrated by placing th etip of the stylus (22) at an arbitrary point in a work volume and varying the stylus orientation to find error values and determine calibration parameters. The sensors of the probe apparatus are zeroed by placing the probe apparatus in the only posible home position and assigning assumed starting angles to the sensors.
(FR) La présente invention concerne un procédé et un appareil permettant de faire des mesures de coordonnées tridimensionnelles (3-D). L'invention permet de numériser un objet tridimensionnel sous forme de représentation maillée manipulable par un système informatique (18) par suivi du stylet d'un palpeur (22) parcourant les surfaces de l'objet. Le palpeur est constitué d'un bras comportant une succession de liaisons et d'articulations. On assemble le bras en plaçant les articulations du bras dans des fixations d'articulation selon l'espacement et l'angle voulus, puis en assujettissant à une liaison les articulations. Pour étalonner le palpeur on place la pointe du stylet (22) en un point arbitraire du volume de travail et on fait varier l'orientation de celui-ci de façon à déterminer des valeurs d'erreur et les paramètres d'étalonnage. Pour déterminer le zéro des capteurs du palpeur, il suffit de placer le palpeur dans la seule position de début possible puis d'affecter des angles de début implicites aux sondes.
Designated States: CA, JP, MX, RU
European Patent Office (AT, BE, CH, DE, DK, ES, FI, FR, GB, GR, IE, IT, LU, MC, NL, PT, SE)
Publication Language: English (EN)
Filing Language: English (EN)
Also published as:
EP0843808EP1424538CA2228587