Method of determining axial alignment of the centroid of an...

Details Method of determining axial alignment of the centroid of an... Method of determining axial alignment of the centroid of an...

Filed on

2007-06-19

Date issued

2007-06-19

Examiner

Black, Thomas (Department: 3661)

Patent Class

Data processing: generic control systems or specific application

SubClass

Specific application, apparatus or process

SubSubClass

Robot control

Other Related Categories

C700S249000, C700S250000, C700S258000, C700S259000, C700S260000, C700S261000, C700S222000, C414S744300, C414S744500, C414S744600, C901S049000, C074S490030

Type

Reexamination Certificate

Status

active

Patent number

11136078

Description

ABSTRACT:
A method determines axial alignment between the centroid of an end effector and the effective center of a specimen held by the end effector. The method is implemented with use of an end effector coupled to a robot arm and having a controllable supination angle. A condition in which two locations of the effective center of the specimen measured at 180° displaced supination angles do not lie on the supination axis indicates that the centroid is offset from the actual effective center of the specimen.

REFERENCES:
patent: 5741113 (1998-04-01), Bacchi et al.
patent: 5765444 (1998-06-01), Bacchi et al.
patent: 5944476 (1999-08-01), Bacchi et al.
patent: 6098484 (2000-08-01), Bacchi et al.
patent: 6105454 (2000-08-01), Bacchi et al.
patent: 6126381 (2000-10-01), Bacchi et al.

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