Method and apparatus for calibrating a robot to compensate for inaccuracy of the robot
US4362977A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Jun 30, 1980 |
| Grant date | Dec 7, 1982 |
| Priority date | — |
| Expiry date | Jun 30, 2000 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/50033
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method and apparatus for calibrating a robot and using the results of this calibration to compensate for inaccuracies of the robot and also to diagnose robot deterioration. The method includes moving the robot to a set of nominal positions, commanded by the robot controller or measured by position encoders built into the robot, and determining the associated actual positions by measuring the robot position with an independent accurate measuring means or by aligning the robot end effector with an accurate calibration mask. The calibration results are stored and subsequently used to compensate for robot inaccuracy so that the robot moves to the actual desired positions.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.