SYSTEM AND METHOD OF LOCATING RELATIVE POSITIONS OF OBJECTS
First Claim
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1. A method of performing a manufacturing operation on a workpiece using a robotic assembly, said robotic assembly including a robotic arm, at least one analog sensor, and a controller, said method comprising the steps of:
- directing the analog sensor on the robotic arm to a first measurement position based upon an expected location of a first surface of the workpiece;
sensing the actual location of the first surface of the workpiece using the analog sensor;
communicating the analog sensor output to the controller to determine the actual location of the first surface of the workpiece;
determining with the controller an expected location of a second surface of the workpiece using the actual location of the first surface of the workpiece;
moving the analog sensor on the robotic arm to a second measurement position, said second measurement position being determined by the expected location of the second surface of the workpiece;
sensing the actual location of the second surface of the workpiece using the analog sensor;
communicating the analog sensor output to the controller to determine the actual location of the second surface of the workpiece; and
determining the location of the start of a manufacturing operation.
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Abstract
An apparatus and method for performing manufacturing operations using position sensing for robotic arms that efficiently and accurately finds the location of a workpiece or features on a workpiece.
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Citations
36 Claims
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1. A method of performing a manufacturing operation on a workpiece using a robotic assembly, said robotic assembly including a robotic arm, at least one analog sensor, and a controller, said method comprising the steps of:
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directing the analog sensor on the robotic arm to a first measurement position based upon an expected location of a first surface of the workpiece; sensing the actual location of the first surface of the workpiece using the analog sensor; communicating the analog sensor output to the controller to determine the actual location of the first surface of the workpiece; determining with the controller an expected location of a second surface of the workpiece using the actual location of the first surface of the workpiece; moving the analog sensor on the robotic arm to a second measurement position, said second measurement position being determined by the expected location of the second surface of the workpiece; sensing the actual location of the second surface of the workpiece using the analog sensor; communicating the analog sensor output to the controller to determine the actual location of the second surface of the workpiece; and determining the location of the start of a manufacturing operation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method of performing a manufacturing operation on a workpiece using a robotic arm assembly, said robotic assembly including a robotic arm, at least one analog sensor, at least one digital sensor, and a controller, said method comprising the steps of:
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directing the analog sensor on the robotic arm to a first measurement position based upon an expected location of a first surface on a workpiece; sensing the actual location of the first surface of the workpiece using the analog sensor and without substantially moving the analog sensor; providing the analog sensor output to the controller to determine the actual location of the first surface of the workpiece; placing the digital sensor at a second measurement position, said second measurement position being determined at least in part by the actual location of the first surface and moving said digital sensor to find an edge on the workpiece; and sensing the edge of the workpiece with the digital sensor starting from the second measurement position and providing the data from the digital sensor to the controller to determine the actual location of the edge. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33)
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34. A method of performing a manufacturing operation on a workpiece using a robotic arm assembly, said robotic assembly including a robotic arm, at least one analog sensor, at least one digital sensor, and a controller, said method comprising the steps of:
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directing the digital sensor on the robotic arm to a first measurement position based upon an expected location of a first feature on a workpiece; sensing the actual location of the first feature using the digital sensor; providing the digital sensor output to the controller to determine the actual location of the first feature of the workpiece; placing the analog sensor at a second measurement position, said second measurement position being determined at least in part by the actual location of the first feature; sensing a second feature on the workpiece with the analog sensor; providing the analog sensor output to the controller to determine the actual location of the second feature; and determining the location of the start of a manufacturing operation. - View Dependent Claims (35, 36)
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Specification