Data processing: generic control systems or specific application – Specific application – apparatus or process – Product assembly or manufacturing
Patent
1997-06-13
2000-03-28
Grant, William
Data processing: generic control systems or specific application
Specific application, apparatus or process
Product assembly or manufacturing
700254, 700259, G06F 1900, G05B 1502
Patent
active
060443081
ABSTRACT:
The present invention provides a method for calibration of pose of a tool center point (TCP) of a robot controlled tool with respect to a tool sensor means in which the robot controlled tool is attached at an end-point of the robot. The method provides a reference fixture with at least four topographically defined features, the reference fixture having a preselected first pose with respect to a robot frame of reference. A TCP sensor is located in a preselected second pose with respect to the reference fixture for sensing position of the tool center point. The method includes positioning the tool sensor so that the reference fixture is in a field of view of the tool sensor and calculating a pose of the robot end point with respect to the robot frame of reference, calculating a pose of the reference fixture with respect to the tool sensor means from a sensed position of the four topographically defined features of the reference fixture, and calculating a position of the tool center point with respect to the reference fixture from a sensed position of the tool center point with respect to the TCP sensor means. The position of the tool center point is calculated with respect to the tool sensor means and the robot end-point.
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Garland Steven R.
Grant William
Schumacher Lynn C.
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