Robot end effector position error correction using...

Details Robot end effector position error correction using... Robot end effector position error correction using...

2006-05-02

2006-05-02

Black, Thomas G. (Department: 3661)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S249000, C700S250000, C700S258000, C700S259000, C700S260000, C700S261000, C700S262000, C700S264000, C414S744300, C414S744500, C414S744600, C074S490030, C901S049000

Reexamination Certificate

active

07039498

ABSTRACT:
A robot arm positioning error is corrected by employing a specimen gripping end effector in which a light source and a light receiver form a light transmission pathway that senses proximity to the specimen. A robot arm old position is sensed and recorded. The robot arm retrieves the specimen from the old position and employs old position information to replace the specimen at a new position that is ideally the same as the old position. A robot arm new position is sensed and recorded. A difference between the new and old positions represents a position error. A correct position is obtained by processing the position error and the old position information.

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