Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Patent
1998-03-10
2000-05-30
Gordon, Paul P.
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
700 57, 700 85, 395 89, 395 94, 395 97, G05B 1500, G05B 1900
Patent
active
060701099
ABSTRACT:
A robot calibration system includes a calibration sensor that provides an indication of when a first reference point that remains fixed relative to a robot base is a fixed distance from a second reference point that is located on the robot arm. The robot arm is moved through a plurality of orientations and each time that the fixed distance between the two reference points is achieved, robot joint position information is determined. The preferred calibration sensor includes a string that extends between the two reference points and activates a signal generator each time that the string is taut as caused by the orientation of the robot arm. The generated signal indicates that the two reference points are separated by the fixed distance. The determined robot joint positions are then used to determine a calibration factor which varies depending on the needs of a particular situation. Example calibration factors are useful for correcting errors in robot kinematic information, locating the workcell reference frame and locating the tool center point reference frame.
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"Using Passive End-Point Motion Constraints To Calibrate Robot Manipulators"; Transactions of the ASME; 560/vol. 115, Sep. 1993
Akeel Hadi A.
Cheng Sai-Kai
Jean Min-Ren
Lee Eric
McGee H. Dean
Fanuc Robotics North America Inc.
Gordon Paul P.
Marc M.
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