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IP.com Disclosure Number: IPCOM000042212D
Original Publication Date: 1984-May-01
Included in the Prior Art Database: 2005-Feb-03
Document File: 1 page(s) / 12K

Publishing Venue

IBM

Related People

Hecker, EP: AUTHOR [+2]

Abstract

This apparatus eliminates accuracy errors in intelligence-controlled robots. In many light assembly applications with robots, it is necessary to have precise accuracy as well as precise repeatability. The accuracy is defined as the ability to move the robot end effector to the commanded position. The repeatability is defined as the ability to return to that commanded position. The objective is to install a device for the robot's use which will verify a given work address location, and feed back any off-set of that given work address without multiple tries to teach what the off-set is. Using the following method, automatic accuracy can be achieved by a robot to at least as precise accuracy as can be obtained with respect to repeatability.

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Point-Of-Use Find Posts

This apparatus eliminates accuracy errors in intelligence-controlled robots. In many light assembly applications with robots, it is necessary to have precise accuracy as well as precise repeatability. The accuracy is defined as the ability to move the robot end effector to the commanded position. The repeatability is defined as the ability to return to that commanded position. The objective is to install a device for the robot's use which will verify a given work address location, and feed back any off-set of that given work address without multiple tries to teach what the off-set is. Using the following method, automatic accuracy can be achieved by a robot to at least as precise accuracy as can be obtained with respect to repeatability. The calibration technique in use today is shown in the figure where calibration posts or find posts 10 are permanently located at known positions in the work area 12. The robot is accurately positioned to these find posts 10, and the move calculation to the work positions is generated from this find-post position. This calculated move between the find post 10 and the work area 12 is affected by linear feedback errors, called non-linear feedback. These work positions or spots are positions or points of repeatable robot return. In order to avoid the accuracy error dimension of the robot, a find post 10 is installed at the point where the greatest amount of repeatable robotic returns are required. That point...