Browse Prior Art Database

Pin-Calibration Routine for SCARA

IP.com Disclosure Number: IPCOM000099153D
Original Publication Date: 1990-Jan-01
Included in the Prior Art Database: 2005-Mar-14
Document File: 2 page(s) / 36K

Publishing Venue

IBM

Related People

Aronoff, RD: AUTHOR [+6]

Abstract

The pin-finding technique for a SCARA (Selective Assembly Robot Arm) robot described in this accurately determines the position of a pin using a sensor. The advantage of our technique over standard techniques is that this technique eliminates effect of hysterisis in the sensors and eliminates the of radial runout in the sensor location.

This text was extracted from an ASCII text file.
This is the abbreviated version, containing approximately 53% of the total text.

Pin-Calibration Routine for SCARA

       The pin-finding technique for a SCARA (Selective Assembly
Robot Arm) robot described in this accurately determines the position
of a pin using a sensor.  The advantage of our technique over
standard techniques is that this technique eliminates effect of
hysterisis in the sensors and eliminates the of radial runout in the
sensor location.

      In our process, we need to eliminate any effects of in the
sensor location.  This runout has two causes: the runout in the basic
sensor design, and second, runout caused by damaging the sensor, a
real possibility a manufacturing tool.  This invention eliminates
both of error and provides us with a highly accurate to locate the
center of the pin.

      The sensor used is a phototransistor - LED pair mounted each
other on two fingers.  They are mounted at the of the robot arm.

      The technique for finding the pin is now described.  The is
described for only a single axis of robot although it is generally
repeated for the other  The used are as follows:
                  SENSOR                         PIN
                   -v- <-LED
        Direction                                 *
        of       =>  <-beam                      ***
        Motion                                    *
      ...