Browse Prior Art Database

Robot to XY Coordinate Mapping

IP.com Disclosure Number: IPCOM000099173D
Original Publication Date: 1990-Jan-01
Included in the Prior Art Database: 2005-Mar-14
Document File: 2 page(s) / 67K

Publishing Venue

IBM

Related People

Aronoff, RD: AUTHOR [+7]

Abstract

This article describes a technique for mapping a (selective compliance assembly robot arm) robot system to an XY table coordinate system. This compensates for non-linearites between the In addition, the two systems are directly mapped one another without requiring an intermediate coordinate

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Robot to XY Coordinate Mapping

       This article describes a technique for mapping a
(selective compliance assembly robot arm) robot system to an XY table
coordinate system. This compensates for non-linearites between the
In addition, the two systems are directly mapped one another without
requiring an intermediate coordinate

      In our SCARA robot system, the SCARA robot is used to
components onto the top of a printed circuit card.  An table located
underneath the card positions a clinching  The XY table and SCARA
robot must be positioned relative to each other to insure high
quality

      The SCARA robot and the XY table are data driven from a
database.  This allows the system to adapt to any of the hundreds of
different parts it have to build.

      In order to data drive the SCARA robot and an XY table some
method must be provided to compensate for non-linearities between the
two  These non-linearities are large enough that they caused problems
inserting parts based on a data-driven  The basic problem with the
non-linearities in the robot are that the assumption cannot be made
that any are linear, that is, that any errors in the robot
positioning are due to a rotated and scaled set of the robot is using
relative to the real-world axes. means that a simple three-point
recalibration will not as a mapping of robot coordinates to XY table

      The auto-calibration of the SCARA robot to XY table is
performed as follows.  The robot grid cho...