On-line robot work-cell calibration

Details On-line robot work-cell calibration On-line robot work-cell calibration

1996-10-31

1998-05-12

Trammell, James P.

Boots, shoes, and leggings

364170, 901 9, 901 23, 738665, 324220, 31856811, G01C 2500

Patent

active

057516103

ABSTRACT:
The work cell is divided into a plurality of calibration zones, and calibration is made with only one measured point in each zone. The calibration zones are set up such that the calibration error in each zone remains within an acceptable tolerance. Within each zone, calibration is preferably made according to a linear calibration algorithm. The method according to the invention includes the steps of storing a first database, of the coordinates of all the tube openings in the tube sheet coordinate system. Each coordinate of the first database is assigned to one of a plurality of calibration zones.

REFERENCES:
patent: 4168782 (1979-09-01), Sturges, Jr.
patent: 4261094 (1981-04-01), Gerkey et al.
patent: 4891767 (1990-01-01), Rzasa et al.
patent: 5037215 (1991-08-01), Crick
patent: 5265129 (1993-11-01), Brooks et al.

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