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Method for calibration of a robot inspection system

  • US 6,321,137 B1
  • Filed: 02/15/2000
  • Issued: 11/20/2001
  • Est. Priority Date: 09/04/1997
  • Status: Expired due to Term
First Claim
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1. A system for calibrating a robot to be used for inspecting a workpiece said robot having a robot arm, said robot arm having an outer end, a camera and a laser light source mounted to said outer end of said robot arm for inspecting said workpiece, said system for calibrating said robot comprising:

  • said outer end of said robot arm being movable within a working envelope;

    means for controlling the outer end of said robot to a plurality of positions within said working envelope;

    said laser light source generating a plane of laser light normal to said laser light source;

    said camera mounted on said outer end of said robot arm at an angle relative to said laser light source;

    a target positioned within said working envelope;

    said laser light source projecting said plane of laser light onto said target at each of said plurality of positions of said outer end of said robot arm, said camera generating a measurement of said target at each of said plurality of positions by viewing said projected laser light on said target;

    means for storing a mathematical model of said robot; and

    means for calibrating the position of said robot arm based upon said mathematical model of said robot, of said target and said plurality of measurements by said camera of said projected laser light on said target.

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