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Coordinating end effector and vision controls

  • US 10,203,683 B2
  • Filed: 07/16/2013
  • Issued: 02/12/2019
  • Est. Priority Date: 07/16/2013
  • Status: Active Grant
First Claim
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1. An apparatus comprising:

  • a gage defining a fiducial feature in a reference plane;

    an end effector configured to locate the fiducial feature with respect to end effector coordinates of the reference plane;

    a camera configured to locate the fiducial feature with respect to camera coordinates of the reference plane that are different than the end effector coordinates of the reference plane; and

    a processor executing computer logic stored in memory that is configured to move the end effector to pair the end effector coordinates and the camera coordinates for each of a plurality of fiducial features, and to perform a minimum mean square error estimation for the plurality of paired values to derive a transformation function mapping the camera coordinates to the end effector coordinates.

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