Robot and sensor error determination system
US4967370A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Oct 21, 1988 |
| Grant date | Oct 30, 1990 |
| Priority date | — |
| Expiry date | Oct 21, 2008 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J9/1692
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method for measuring the position and orientation changes of a 3-D sensor relative to a robot mount and for measuring the positioning and orienting changes of the robot mount. All measurements reveal changes relative to a baseline measurement. A novel reference provides a low-cost measurement aid. A reference object is placed within the work volume of the robot carrying the sensor which is capable of making three-dimensional measurements. The reference object has a shape that enables unambiguous determination of its location and orientation. The reference object is measured from predetermined orientations, and the measurements are recorded in a memory. These measurements form a baseline measurement set. The measurement step is repeated at a later time, and another measurement set is produced. The baseline measurement set and the other measurement set are processed to determine robot positioning errors and sensor location errors.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.