Robot end-effector terminal control frame (TCF) calibration method and device
US5297238A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Aug 30, 1991 |
| Grant date | Mar 22, 1994 |
| Priority date | — |
| Expiry date | Aug 30, 2011 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39057
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method for calibrating a tool control frame (TCF) on a robot with respect to a known calibration reference claim (CRF), wherein the (CRF) is in rigid body relationship with a robot link. The method includes the steps of (a) attaching a sensory tool to the robot link, (b) calibrating the sensory tool with appropriate units of measurement, (c) identifying a calibration feature to be mapped by the sensory tool, (d) causing relative movement of the calibration feature within sensing range of the sensory tool, (e) recording robot configuration and pose as a first data record, (f) causing relative movement of the calibration feature and sensory tool along a known direction to a new position within sensing range, (g) recording configuration and pose as a second data record, and (h) applying coordinate transformations to the respective data records to generate a correct tool control frame (TCF) pose with respect to the (CRF).
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.