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Analysis of end effector operations by a robot

  • US 10,118,297 B2
  • Filed: 06/29/2016
  • Issued: 11/06/2018
  • Est. Priority Date: 06/29/2016
  • Status: Active Grant
First Claim
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1. A system comprising:

  • an end effector of a robot, the end effector comprising;

    an extendable punch that places targets onto a part;

    supports that hold a strip of reflective adhesive tape between the extendable punch and the part, the tape having a reflective side and an adhesive side wherein extension of the punch cuts out a target from the strip and applies force that moves an adhesive side of the target to the part, and retraction of the extendable punch leaves the reflective side of the target visible on the part;

    a memory storing a Numerical Control (NC) program directing the robot; and

    a controller that directs actuators of the robot to reposition the end effector based on the NC program, wherein the NC program includes instructions for placing a target at each location where the part will be permanently altered.

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