Robot calibration system
US6070109A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Mar 10, 1998 |
| Grant date | May 30, 2000 |
| Priority date | — |
| Expiry date | Mar 10, 2018 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40621
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robot calibration system includes a calibration sensor that provides an indication of when a first reference point that remains fixed relative to a robot base is a fixed distance from a second reference point that is located on the robot arm. The robot arm is moved through a plurality of orientations and each time that the fixed distance between the two reference points is achieved, robot joint position information is determined. The preferred calibration sensor includes a string that extends between the two reference points and activates a signal generator each time that the string is taut as caused by the orientation of the robot arm. The generated signal indicates that the two reference points are separated by the fixed distance. The determined robot joint positions are then used to determine a calibration factor which varies depending on the needs of a particular situation. Example calibration factors are useful for correcting errors in robot kinematic information, locating the workcell reference frame and locating the tool center point reference frame.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.