Calibration Technique for a Robot End Effector
Original Publication Date: 1988-Feb-01
Included in the Prior Art Database: 2005-Feb-14
The use of machine vision in servoing of robot manipulators for workpiece insertion, orientation or testing is now conventional. Visual servoing is usually accomplished by deriving manipulator motion control signals from the processing of the images viewed by a video camera mounted on the manipulator to move in unison with the robot end effector. (Image Omitted) With the spatial relationship between the camera and the end effector known, the robot control system can determine the distances over which the end effector will have to be moved in the X, Y and Z directions to reach the workpiece region identified by the camera as the region of interest and over which the camera is located.