DEVICE AND METHOD FOR CORRECTION OF ROBOT INACCURACY

摘要

DEVICE AND METHOD FOR CORRECTION OF ROBOT INACCURACY A method and device for improving orientation and/or location accuracy of a programmable robot with respect to a target object. The method consists of calibrating the position of a terminal control frame associated with a robot end-effector which is coupled to a robot distal link. Separated reference positions external from the robot are identified, as to geometry and spatial data. This identification data is stored for later recall and comparison for use in determining a localized relative frame of reference. The robot endeffector is moved to a first reference position and a rigid body error correction is determined. This correction is stored in computer memory for application to later computer movement.