Calibration Scheme for Simple Robot
Original Publication Date: 1986-Jan-01
Included in the Prior Art Database: 2005-Mar-08
A method of accurately aligning and calibrating a workpiece relative to a simple robot which lacks arm position feedback is disclosed. The workpiece is accurately positioned on a frame which is approximately positioned above a work table. The frame may move relative to the table and carries two locating devices. The robot inserts a pin in the first locating device, and a first clamp is energized. Then the robot inserts a pin in the second locating device, rotating the frame about the first clamp. Lastly, the second clamp is energized to clamp the frame relative to the robot on the work table. When a robot lacks arm position feedback, it must operate on a workpiece by dead reckoning using absolute measurements. The method is illustrated in Fig. 1 elevation and Fig.