LOCATING A WORKPIECE USING A MEASUREMENT OF A WORKPIECE FEATURE
First Claim
1. A method of determining a pose of a workpiece, the method comprising:
- receiving known positions of a plurality of reference features of a workpiece in a first pose in a first coordinate space;
determining from the known positions an estimate of the first pose of the workpiece in a second coordinate space in which any pose of the workpiece including the first pose is definable by six distinct components, at least one of the six components of the first pose being known;
receiving a position of a second feature of the workpiece in the second coordinate space, the workpiece being disposed in a distinct, second pose in which the at least one of the six known components of the first pose are common to the second pose; and
determining the second pose of the workpiece from the estimate of the first pose of the workpiece and the position of the second feature of the workpiece in the second pose.
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Accused Products
Abstract
A method of determining a pose of a workpiece includes receiving known positions of a plurality of reference features of a workpiece in a first pose in a first coordinate space, determining from the known positions an estimate of the first pose of the workpiece in a second coordinate space in which any pose of the workpiece is defined by six distinct components, and at least one of the six components are known. The method includes receiving a position of a second feature of the workpiece in the second coordinate space when the workpiece is disposed in a distinct, second pose in which the at least one known components remain constant between the first and second pose. The method includes determining the second pose of the workpiece from the first pose estimate and the position of the second feature of the workpiece in the second pose.
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Citations
21 Claims
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1. A method of determining a pose of a workpiece, the method comprising:
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receiving known positions of a plurality of reference features of a workpiece in a first pose in a first coordinate space; determining from the known positions an estimate of the first pose of the workpiece in a second coordinate space in which any pose of the workpiece including the first pose is definable by six distinct components, at least one of the six components of the first pose being known; receiving a position of a second feature of the workpiece in the second coordinate space, the workpiece being disposed in a distinct, second pose in which the at least one of the six known components of the first pose are common to the second pose; and determining the second pose of the workpiece from the estimate of the first pose of the workpiece and the position of the second feature of the workpiece in the second pose. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An apparatus comprising at least a processor and a memory storing executable instructions that in response to execution by the processor cause the apparatus to at least:
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receive known positions of a plurality of reference features of a workpiece in a first pose in a first coordinate space; determine from the known positions an estimate of the first pose of the workpiece in a second coordinate space in which any pose of the workpiece including the first pose is definable by six distinct components, at least one of the six components of the first pose being known; receive a position of a second feature of the workpiece in the second coordinate space, the workpiece being disposed in a distinct, second pose in which the at least one of the six known components of the first pose are common to the second pose; and determine the second pose of the workpiece from the estimate of the first pose of the workpiece and the position of the second feature of the workpiece in the second pose. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A computer-readable storage medium that is non-transitory and has computer-readable program code portions stored therein that, in response to execution by a processor, cause an apparatus to at least:
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receive known positions of a plurality of reference features of a workpiece in a first pose in a first coordinate space; determine from the known positions, an estimate of the first pose of the workpiece in a second coordinate space in which any pose of the workpiece including the first pose is definable by six distinct components, at least one of the six components of the first pose being known; receive a position of a second feature of the workpiece in the second coordinate space, the workpiece being disposed in a distinct, second pose in which the at least one of the six known components of the first pose are common to the second pose; and determine the second pose of the workpiece from the estimate of the first pose of the workpiece and the position of the second feature of the workpiece in the second pose. - View Dependent Claims (16, 17, 18, 19, 20, 21)
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Specification