Robot machining tool position and orientation calibration

Details Robot machining tool position and orientation calibration Robot machining tool position and orientation calibration

2005-09-06

2005-09-06

Black, Thomas G. (Department: 3661)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S245000, C700S248000, C700S249000, C700S250000, C700S258000, C700S259000, C700S260000, C700S261000, C700S262000, C700S263000, C700S264000, C318S568100, C318S568160, C702S091000, C702S094000, C702S105000, C702S113000, C701S023000, C901S030000, C901S039000

Reexamination Certificate

active

06941192

ABSTRACT:
A robot having a spindle is calibrated by disposing a calibration tool in the robot spindle. The position of the calibration tool is measured. An axis of the spindle is determined based on the measured position. A calibration tool center point is determined based on the measured position. A robot tool rotation axis is determined based on the determined spindle axis, robot tool center point, the determined calibration tool center point, and difference in length between the calibration tool and a robot tool.

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