Relative Alignment System for Robot Part Insertion Operations
Original Publication Date: 1988-Jul-01
Included in the Prior Art Database: 2005-Feb-15
This article describes an alignment system which determines the relative misalignment between a part in the grasp of a robot manipulator and a pocket in a workpiece and then determines the necessary correction moves to be performed by the robot to bring the part into alignment with the pocket. The insertion of the part in the pocket can then be performed. (Image Omitted) The problem solved by this system is illustrated in Fig. 1. Here the center of the workpiece is out of alignment with the centerline of the pocket (short centerlines), and both pieces are offset from their expected locations (long centerlines). The system disclosed herein operates in a noncontact sensing mode to determine the location of the center of the part relative to the center of the pocket.