Optics: measuring and testing – By polarized light examination – With light attenuation
Patent
1989-02-01
1993-01-05
Williams, Hezron E.
Optics: measuring and testing
By polarized light examination
With light attenuation
901 47, 395 94, G01B 1100, B25J 900
Patent
active
051775638
ABSTRACT:
A system for robot manipulator calibration by locating a physcial object by determining the position of the object relative to a sensor, which is attached to the manipulator. The sensor consists of a support member and at least three sensor members which are mounted to the support member and are arranged to make tangential contact with a curved surface, preferably a spherical surface, simultaneously at three spaced points on the surface, upon such contact the object is deemed to be "located". Tangential contact is accomplished by the use of light beams as sensors.
REFERENCES:
patent: H65 (1986-05-01), Beni et al.
patent: 3888362 (1975-06-01), Fletcher et al.
patent: 4423998 (1984-01-01), Inaba et al.
patent: 4575802 (1986-03-01), Walsh et al.
patent: 4615615 (1986-10-01), Krolak et al.
patent: 4623183 (1986-11-01), Aomori
patent: 4653793 (1987-03-01), Guinot et al.
patent: 4766322 (1988-08-01), Hashimoto
patent: 4982611 (1991-01-01), Lorenz et al.
S. Acquaviva, G. Belforte, R. Ippolito, and A. Romiti, "A New Measuring System for Robot Precision," Eighth Annual British Robot Association Conference, pp. 13-22 (May 1985).
J. S. Shamma, & D. E. Whitney, "A Method for Inverse Robot Calibration," Journal of Dynamic Systems, Measurement and Control, vol. 39, pp. 36-43 (Mar. 1987).
W. K. Veitschegger, & Chi-haur Wu, "A Method for Calibrating and Compensating Robot Kinematic Errors," Robotics and Automation, pp. 39-44 (IEEE Computer Society Press, 1987).
D. E. Whitney, C. A. Lozinski, & J. M. Rourke, "Industrial Robot Forward Calibration Method and Results," Journal of Dynamic Systems, Measurement and Control, vol. 108, pp. 1-8 (Mar. 1986).
K. Lau, R. J. Hocken, & W. C. Haight, "Automatic Laser Tracking Interferometer System for Robot Metrology," Precision Engineering vol. 8, (1:3) (Jan. 1986).
B. W. Mooring, "The Effect of Joint Axis Misalignment on Robot Positioning Accuracy," Proceedings of Computers in Engineering Conference, vol. 2, pp. 151-155 (1983).
Chi-haur Wu, "The Kinematic Error Model for the Design of Robot Manipulator," 1983 American Control Conference, (San Francisco, Jun. 22-24), pp. 497-502.
B. W. Mooring, & G. R. Tang, "An Improved Method for Identifying the Kinematic Parameters in a Six Axis Robot," Proceedings of the 1984 International Computers in Engineering Conference and Exh.
H. W. Stone, A. C. Sanderson, & C. P. Neuman, "Arm Signature Identification," IEEE International Conference on Robotics and Automation, San Francisco, Calif., pp. 41-48 (1986).
M. R. Driels, & U. S. Pathre, "Robot Manipulator Kinematic Compensation Using a Generalized Jacobian Formulation," Journal of Robotic Systems, vol. 4(2), pp. 259-280 (1987).
B. W. Mooring, & T. J. Pack, "Determination and Specification of Robot Repeatability," Proceedings of IEEE International Conference on Robotics and Automation, vol. 2, pp. 1017-1023.
A. Kumar, & D. J. Waldron, "Numerical Plotting Surfaces of Positioning Accuracy of Manipulators," Mechanism and Machine Theory, vol. 16, pp. 361-368 (1981).
J. Chen & L. N. Chao, "Positioning Error Analysis for Robot Manipulators With All Rotary Joints," IEEE International Conference on Robotics and Automation, vol. 2, pp. 1011-1016.
Everett Louis J.
Hsu Tsing-Wong
Brock Michael J.
Texas A&M University System
Williams Hezron E.
LandOfFree
Method and apparatus for locating physical objects does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Method and apparatus for locating physical objects, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Method and apparatus for locating physical objects will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-2394367