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Method of calibrating highly precise robots

  • US 5,220,261 A
  • Filed: 02/26/1992
  • Issued: 06/15/1993
  • Est. Priority Date: 03/19/1991
  • Status: Expired due to Fees
First Claim
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1. A method of calibrating robots of the type having a plurality of arms, adjacent ones of said arms being interconnected to be rotated by servomotors about robot axes under the control of control signals comprising the steps of(a) attaching to one of said arms of said robot an angular rate sensor for sensing angular rate of said sensor relative to inertial space about an input axis,(b) commanding, by said command signals, a configuration of said robot wherein said one arm is supposed to assume a predetermined nominal position,(c) generating an angular rate about one of said robot axes different from said input axis, whereby said rate sensor is supposed to sense, about said input axis, a predetermined nominal component of said generated angular rate depending on said commanded configuration of said robot,(d) measuring by said angular rate sensor the actual angular rate about said input axis,(e) comparing said actual angular rate measured by said angular rate sensor about said input axis with said nominal component of said generated angular rate, and(f) applying corrections to parameters of control signals of said robot in accordance with the deviation of said actual angular rate and said nominal component of said generated angular rate to compensate for deviations of at least one robot axis from its nominal orientation.

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