Method and apparatus for calibrating a robot to compensate...

Details Method and apparatus for calibrating a robot to compensate... Method and apparatus for calibrating a robot to compensate...

G - Physics

05

D

340/71, 341/97

G05D 3/00 (2006.01) B25J 9/16 (2006.01)

Patent

CA 1155519

YO98-007 METHOD AND APPARATUS FOR CALIBRATING A ROBOT TO COMPENSATE FOR INACCURACY OF THE ROBOT 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 align- ing the robot end effector with an accurate calibra- tion mask. The calibration results are stored and subsequently used to compensate for robot inaccuracy so that the robot moves to the actual desired positions.

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