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Target based determination of robot and sensor alignment

DC
  • US 4,796,200 A
  • Filed: 09/28/1987
  • Issued: 01/03/1989
  • Est. Priority Date: 12/09/1986
  • Status: Expired due to Term
First Claim
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1. A method for locating an object mounted on a structure comprising the steps of:

  • providing a plurality of optically visible targets on the object at known locations;

    mounting a TV camera for movement on a highly accurately positionable robot having a plurality of axes of motion;

    locating the positionable robot at a location known relative to the structure so that the position of the TV camera relative to the structure is known;

    moving the positionable robot to position the TV camera at a predetermined point in space known relative to the structure;

    viewing the targets with the TV camera;

    determining the location of the targets with the TV camera relative to the TV camera, and hence relative to the structure; and

    determining from the targets location relative to the structure the location of the object relative to the structure.

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