Self aligning robotic arm calibration apparatus

摘要

A calibration apparatus for use with a storage system for storing a plurality of objects in an array of object storage locations. In a preferred embodiment, the calibration apparatus includes a target affixed in a predetermined location to the storage system, an object retrieval mechanism, and an imaging system. The object retrieval mechanism is used for retrieving objects from the object storage locations and has a principal direction of movement which is perpendicular to a plane in which an exposed surface of each of the plurality of objects lie. The imaging system is attached to the object retrieval mechanism for imaging the target. The imaging system is positioned such that the direction from the target to the imaging system is parallel to the principal direction.