Method and apparatus for calibrating mechanical-visual part manipulating system
US3986007A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Nov 28, 1975 |
| Grant date | Oct 12, 1976 |
| Priority date | — |
| Expiry date | Nov 28, 1995 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10T29/49769
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
An automaton includes a work part supporting and manipulating system having sensors which provide signals indicative of the position of the work holder in a first coordinate system and a television system which can observe a part and generate signals representative of the position of the part in the television system's coordinate system. A subsystem for generating conversion factors used to translate positions in the vision system coordinates into the manipulating system coordinates receives the output of both the manipulator sensors and the vision system while the manipulator moves a target through a series of points along a line. The subsystem determines the angle of rotation between the two coordinate systems and the distance from the origin of one system to the origin of the other system through calculations involving lines drawn through the points in the vision system and manipulating system coordinates. It also calculates a length scaling factor representing the ratio between an observed distance in the vision system and in the manipulating system.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.