Browse Prior Art Database

Verifying the Installation of an Anthrophomorphic Six Axis Robot

IP.com Disclosure Number: IPCOM000112904D
Original Publication Date: 1994-Jun-01
Included in the Prior Art Database: 2005-Mar-27
Document File: 2 page(s) / 84K

Publishing Venue

IBM

Related People

Abbott, P: AUTHOR [+3]

Abstract

A method for Verifying the installation of an anthropomorphic six axis robot is disclosed (GO NO GO). This process calculates the offsets between the grippers and the cameras on the 3495 Automated Tape Library (ATL), and performs self-diagnostic tests on the ATL accessor. Prior to this process, when an ATL was installed in the field, the installation team had no idea if the accessor was correctly installed or if the ATL would operate with a low error rate.

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Verifying the Installation of an Anthrophomorphic Six Axis Robot

      A method for Verifying the installation of an anthropomorphic
six axis robot is disclosed (GO NO GO).  This process calculates the
offsets between the grippers and the cameras on the 3495 Automated
Tape Library (ATL), and performs self-diagnostic tests on the ATL
accessor.  Prior to this process, when an ATL was installed in the
field, the installation team had no idea if the accessor was
correctly installed or if the ATL would operate with a low error
rate.

      The "Go No Go - Teach Mastering" process has been implemented
as part of the installation procedure for the ATL.  This process
calculates the offsets between the grippers and the cameras on the
ATL, and performs self-diagnostic tests on the ATL Accessor.  This
article will describe the methods used by the "Go No Go - Teach
Mastering" process to verify the placement accuracy and linearity of
the Accessor during installation of the Automated Tape Library.
These methods include several diagnostic tests that verify the
quality of the Accessor installation.  These tests include verifying
correct touch points and vision targets, measuring the orientation of
the Accessor relative to the library, and linearity measurements.
These tests help predict how well the library will run and what the
retry rate for future robot operations will be.  This retry rate
influences the performance of the library.

      The "Go No Go - Teach Mastering" process uses a board and a
sensor hand.  The board consists of a single vertical groove and a
series of horizontal grooves.  In addition, vision targets are
located at strategic points.  A sensor hand is provided that either
replaces or attaches to the gripper.  The sensor hand has three
sensors mounted in strategic locations to be used to find the groove
on the board.

Program Sequence and Result.

The following procedure will be repeated for each teach position.

o   The sensor hand is moved onto the board and is rotated until all
    the sensors are touching the board.

o   The sensor hand is moved until the leftmost sensors locate the
    left edge of the vertical slot, this position is stored.

o   The sensor hand is moved until the leftmost sensors locate the
    right edge of the vertical slot, this position is stored.

o   The center of the vertical slot is calculated by averaging the
    previous two locations.

o   The sensor hand is moved until the righ...