Browse Prior Art Database

Calibration Scheme for Simple Robot

IP.com Disclosure Number: IPCOM000059600D
Original Publication Date: 1986-Jan-01
Included in the Prior Art Database: 2005-Mar-08
Document File: 2 page(s) / 34K

Publishing Venue

IBM

Related People

Smith, GM: AUTHOR

Abstract

A method of accurately aligning and calibrating a workpiece relative to a simple robot which lacks arm position feedback is disclosed. The workpiece is accurately positioned on a frame which is approximately positioned above a work table. The frame may move relative to the table and carries two locating devices. The robot inserts a pin in the first locating device, and a first clamp is energized. Then the robot inserts a pin in the second locating device, rotating the frame about the first clamp. Lastly, the second clamp is energized to clamp the frame relative to the robot on the work table. When a robot lacks arm position feedback, it must operate on a workpiece by dead reckoning using absolute measurements. The method is illustrated in Fig. 1 elevation and Fig.

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Calibration Scheme for Simple Robot

A method of accurately aligning and calibrating a workpiece relative to a simple robot which lacks arm position feedback is disclosed. The workpiece is accurately positioned on a frame which is approximately positioned above a work table. The frame may move relative to the table and carries two locating devices. The robot inserts a pin in the first locating device, and a first clamp is energized. Then the robot inserts a pin in the second locating device, rotating the frame about the first clamp. Lastly, the second clamp is energized to clamp the frame relative to the robot on the work table. When a robot lacks arm position feedback, it must operate on a workpiece by dead reckoning using absolute measurements. The method is illustrated in Fig. 1 elevation and Fig. 2 plan where the workpiece is printed circuit card 1 upon which the robot is to position components. Card 1 is mounted on rectangular frame 2 and accurately positioned with respect to frame 2 by structure 3. Frame 2 is supported above work table 4 by frame supports 5 at opposite corners and by clamps 6, 7. Clamps 6, 7 are shown as electromagnetic but could equally well be pneumatic, and clamp 6 is rotatable on bearing 8. Frame 2 also carries location devices 9, 10 (e.g., holes) which are accurately positioned with respect to card 1. Frame 2 is first placed on unenergized clamps 6, 7 and approximately positioned so that location devices 9, 10 are roughly central above...