Robot end-effector terminal control frame (TCF) calibration meth

Details Robot end-effector terminal control frame (TCF) calibration meth Robot end-effector terminal control frame (TCF) calibration meth

1991-08-30

1994-03-22

MacDonald, Allen R.

395 89, 395 86, G06F 1546, G05B 1942

Patent

active

052972380

ABSTRACT:
A method for calibrating a tool control frame (TCF) on a robot with respect to a known calibration reference claim (CRF), wherein the (CRF) is in rigid body relationship with a robot link. The method includes the steps of (a) attaching a sensory tool to the robot link, (b) calibrating the sensory tool with appropriate units of measurement, (c) identifying a calibration feature to be mapped by the sensory tool, (d) causing relative movement of the calibration feature within sensing range of the sensory tool, (e) recording robot configuration and pose as a first data record, (f) causing relative movement of the calibration feature and sensory tool along a known direction to a new position within sensing range, (g) recording configuration and pose as a second data record, and (h) applying coordinate transformations to the respective data records to generate a correct tool control frame (TCF) pose with respect to the (CRF).

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"Calibration of Wrist-Mounted Robotic Sensors by Solving Homogeneous Transform Equations of the Form AX - XB", Yiu Cheung Shiu and Shaheen Ahmad.

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