Method and apparatus for calibrating a robot to compensate for i

Details Method and apparatus for calibrating a robot to compensate for i Method and apparatus for calibrating a robot to compensate for i

1980-06-30

1982-12-07

Dobeck, B.

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

318632, 364513, G05B 1942

Patent

active

043629776

ABSTRACT:
A method and apparatus for calibrating a robot and using the results of this calibration to compensate for inaccuracies of the robot and also to diagnose robot deterioration. The method includes moving the robot to a set of nominal positions, commanded by the robot controller or measured by position encoders built into the robot, and determining the associated actual positions by measuring the robot position with an independent accurate measuring means or by aligning the robot end effector with an accurate calibration mask. The calibration results are stored and subsequently used to compensate for robot inaccuracy so that the robot moves to the actual desired positions.

REFERENCES:
patent: 4011437 (1977-03-01), Hohn
patent: 4025838 (1977-05-01), Watanabe
patent: 4140953 (1979-02-01), Dunne

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