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Device and method for correction of robot inaccuracy

  • US 4,831,549 A
  • Filed: 07/28/1987
  • Issued: 05/16/1989
  • Est. Priority Date: 07/28/1987
  • Status: Expired due to Fees
First Claim
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1. A method for calibrating the position of a terminal control frame of a robot end-effector such as a camera or gripping device which is coupled to a robot distal link having a robot distal frame and being subject to control of a computer data processing and storage means, said method comprising the steps of:

  • (a) attaching pointing means having a pointing end to the robot distal link such that the pointing means is aligned parallel with a z-axis of the robot distal frame;

    (b) selecting a first reference point in a space removed from the robot but within an operating distance;

    (c) moving the robot to a first pose wherein the pointing end of the pointing means is located at the first reference point;

    (d) storing robot positioning data representing the first robot pose of step "c" in the computer means for later recall and comparison;

    (e) attaching the end-effector to the distal link;

    (f) identifying a reference point on the end-effector;

    (g) moving the robot to a second pose wherein the end-effector reference point is located at the first reference point;

    (h) storing robot positioning data representing the second robot pose of step "g" in the computer means for later recall and comparison;

    (i) comparing the stored positioning data of steps "d" and "h" for detection of differences;

    (j) processing detected differences within the computer means to define offset position of the terminal control frame with respect to the robot distal frame.

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