Robot and sensor error determination system

Details Robot and sensor error determination system Robot and sensor error determination system

1988-10-21

1990-10-30

MacDonald, Allen

Boots, shoes, and leggings

901 46, G05B 1900

Patent

active

049673700

ABSTRACT:
A method for measuring the position and orientation changes of a 3-D sensor relative to a robot mount and for measuring the positioning and orienting changes of the robot mount. All measurements reveal changes relative to a baseline measurement. A novel reference provides a low-cost measurement aid. A reference object is placed within the work volume of the robot carrying the sensor which is capable of making three-dimensional measurements. The reference object has a shape that enables unambiguous determination of its location and orientation. The reference object is measured from predetermined orientations, and the measurements are recorded in a memory. These measurements form a baseline measurement set. The measurement step is repeated at a later time, and another measurement set is produced. The baseline measurement set and the other measurement set are processed to determine robot positioning errors and sensor location errors.

REFERENCES:
patent: 4642781 (1987-02-01), Szonyi
patent: 4722063 (1988-01-01), Yasukawa et al.
patent: 4725965 (1988-02-01), Keenan
patent: 4753569 (1988-06-01), Pryor
patent: 4796195 (1989-01-01), Haggerty
patent: 4815006 (1989-03-01), Andersson et al.
patent: 4841762 (1989-06-01), Hunter

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