Registers – Transfer mechanism – Traveling pawl
Patent
1975-11-28
1976-10-12
Botz, Eugene G.
Registers
Transfer mechanism
Traveling pawl
444 1, 178 68, 29407, 29587, 250201, H04M 718
Patent
active
039860078
ABSTRACT:
An automaton includes a work part supporting and manipulating system having sensors which provide signals indicative of the position of the work holder in a first coordinate system and a television system which can observe a part and generate signals representative of the position of the part in the television system's coordinate system. A subsystem for generating conversion factors used to translate positions in the vision system coordinates into the manipulating system coordinates receives the output of both the manipulator sensors and the vision system while the manipulator moves a target through a series of points along a line. The subsystem determines the angle of rotation between the two coordinate systems and the distance from the origin of one system to the origin of the other system through calculations involving lines drawn through the points in the vision system and manipulating system coordinates. It also calculates a length scaling factor representing the ratio between an observed distance in the vision system and in the manipulating system.
REFERENCES:
patent: 3326176 (1967-06-01), Sibley
patent: 3796497 (1974-03-01), Moore et al.
patent: 3909600 (1975-09-01), Hohn
"2-D Area Array Solid-State Feedback Automatic Wafer Alignment System," in IBM Technical Disclosure Bulletin, vol. 17, No. 10, Mar. 1975, pp. 2890-2892.
"Learning Hardware-Software System For The Recognition and Pick Up of Objects," in IBM Technical Disclosure Bulletin, vol. 17, No. 7, Dec. 1974, pp. 2144-2148.
Benefiel John R.
Botz Eugene G.
The Bendix Corporation
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