Browse Prior Art Database

SCARA Robot to Real-World

IP.com Disclosure Number: IPCOM000099175D
Original Publication Date: 1990-Jan-01
Included in the Prior Art Database: 2005-Mar-14
Document File: 1 page(s) / 60K

Publishing Venue

IBM

Related People

Aronoff, RD: AUTHOR [+7]

Abstract

This disclosure describes the auto-calibration of SCARA (selective compliance assembly robot arm) robot to coordinates. In our application, the SCARA robot used to insert components into printed circuit cards. real-world coordinates are on a linear system that to the coordinates of the cards being assembled. auto-calibration provides a means of mapping SCARA robot into real-world coordinates within a specified allowing the robot to be data driven. If this was not done, the robot would not be able insert parts, since its non- linearities would create errors in its placement positioning.

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SCARA Robot to Real-World

       This disclosure describes the auto-calibration of SCARA
(selective compliance assembly robot arm) robot to coordinates.  In
our application, the SCARA robot used to insert components into
printed circuit cards. real-world coordinates are on a linear system
that to the coordinates of the cards being assembled.
auto-calibration provides a means of mapping SCARA robot into
real-world coordinates within a specified allowing the robot to be
data driven.  If this was not done, the robot would not be able
insert parts, since its non- linearities would create errors in its
placement positioning.

      These non-linearities are large enough that they have 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. a simple three-point recalibration
will not work a mapping of robot coordinates to real-world
coordinates.

      A special calibration sensor was made for the robot. consists
of a phototransistor - LED pair with an air between them.  A
calibration plate that consists of a of pins at one-inch intervals is
located on the robot space.  This plate is located with the same
mechanism locates the cards that are normally built on the tool,
referencing the pins on the plate to physical lo...