System for automatically calibrating the space coordinates...

Details System for automatically calibrating the space coordinates... System for automatically calibrating the space coordinates...

B - Operations, Transporting

25

J

294/4, 341/97

B25J 13/08 (2006.01) B25J 13/00 (2006.01) D21G 3/00 (2006.01)

Patent

CA 1208747

Abstract: A system for automatically compensating for inaccuracies of a robot in all degrees of freedom. The system includes moving a measuring body (32) held by the robot gripper in response to a command representative of a previously determined nomi- nal position within a measuring fixture (31) known to the robot controller, determining by means of sensing means (S1-S6) differences between pairs of sensed values and using said diffe- rence values to iteratively compensate for the error in respec- tive angular coordinate direction .beta., .alpha. and .gamma. and thereafter using the received pairs of equal sensor values to iteratively compensate for the error in respective ortogonal coordinate direction x, y and z. Alternatively, the errors in respective coordinate directions .beta., .alpha.,.gamma., x, y and z may be successively calculated and the calculated error values used to successively compensate for the errors in the associated coordinate direc- tions.

457582

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