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Browse Prior Art Database

Automatic Pin Location for

IP.com Disclosure Number: IPCOM000099148D
Original Publication Date: 1990-Jan-01
Included in the Prior Art Database: 2005-Mar-14
Document File: 1 page(s) / 41K

Publishing Venue

IBM

Related People

Aronoff, RD: AUTHOR [+6]

Abstract

This article describes a method of automatically the calibration pin locations for a SCARA Compliance Assembly Robot Arm) robot system the auto-calibration of the robot.

This text was extracted from an ASCII text file.
This is the abbreviated version, containing approximately 77% of the total text.

Automatic Pin Location for

       This article describes a method of automatically the
calibration pin locations for a SCARA Compliance Assembly Robot Arm)
robot system the auto-calibration of the robot.

      Auto-calibration is the technique of mapping a grid of
coordination in one system (assembly to coordinates in another system
(e.g., robot that reduces errors due to non-linearities in or the
other.

      A calibration plate that consists of a grid of pins at
intervals is located on the robot work surface. plate is located with
the same mechanism that locates cards that are normally built on the
tool, thus the pins on the plate to physical locations on cards.

      The robot must be programmed to find each pin with its sensor.
This process takes about 8 hours.  In to be able to run automatically
and to reduce the "teaching" time to a minimum, a means of
automatically the location of the "next" pin is required.

      The calibration plate is a grid of points described as
         x x x x x x x x x   Each x, number = a pin
         x x x x x x x x x
         x x x x x x x x x
         x x x x x x x x x
         x x x x x x x x x
         x x x x x x x x x

      The invention works as follows:  The positions of pins 2 and 3
are taught to the robot.  The robot uses the from pin 1 to pin 2
as the horizontal offset vector. the robot uses the vector from pin 1
to pin 3 as vertical offset vector...