Methods, systems, and apparatus for calibration of an orientation between an end effector and an article
US9310791B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 16, 2012 |
| Grant date | Apr 12, 2016 |
| Priority date | — |
| Expiry date | Jul 14, 2032 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39024
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Disclosed are methods adapted to aid in a calibration of a robotic end effector. The method includes providing a robotic component having an end effector and a light beam sensor provided in a fixed orientation to the end effector fingers, rotating a light beam of the light beam sensor relative to a geometrical calibration feature of a teach tool mounted in an approximately known orientation to an article, and determining a precise location (e.g., center) of the geometrical calibration feature based upon engagement of the light beam with edges of the geometrical calibration feature. In another aspect, a rotational orientation of the fingers of the end effector are calibrated using the teach tool. A novel teach tool and a robot calibration system including the teach tool are disclosed, as are other aspects.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.