System for automatically calibrating a robot

Details System for automatically calibrating a robot System for automatically calibrating a robot

1984-07-09

1987-02-10

Ruggiero, Joseph

Boots, shoes, and leggings

318568, 318632, 364170, 364571, 901 9, 901 46, G06F 1546, G05B 1942

Patent

active

046427813

ABSTRACT:
A system for automatically compensating for inaccuracies of a robot in all degrees of freedom. The system includes moving a measuring body held by the robot gripper in response to a command representative of a previously determined nominal position within a measuring fixture known to the robot controller, determining by means of sensing means differences between pairs of sensed values and using said difference values to iteratively compensate for the error in respective angular coordinate direction .beta., .alpha. and .gamma. and thereafter using the received pairs of equal sensor values to iteratively compensate for the error in respective orthogonal coordinate direction x, y and z. Alternatively, the errors in respective coordinate directions .beta., .alpha., .gamma., x, y and z may be successively calculated and the calculated error values used to successively compensate for the errors in the associated coordinate directions.

REFERENCES:
patent: 4140953 (1979-02-01), Dunne
patent: 4356554 (1982-10-01), Susnjara et al.
patent: 4362977 (1982-12-01), Evans et al.
patent: 4403281 (1983-09-01), Holmes et al.
patent: 4486843 (1984-12-01), Spongh et al.

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