发明名称 |
Robot and sensor error determination system |
摘要 |
A method for measuring the position and orientation changes of a 3-D sensor relative to a robot mount and for measuring the positioning and orienting changes of the robot mount. All measurements reveal changes relative to a baseline measurement. A novel reference provides a low-cost measurement aid. A reference object is placed within the work volume of the robot carrying the sensor which is capable of making three-dimensional measurements. The reference object has a shape that enables unambiguous determination of its location and orientation. The reference object is measured from predetermined orientations, and the measurements are recorded in a memory. These measurements form a baseline measurement set. The measurement step is repeated at a later time, and another measurement set is produced. The baseline measurement set and the other measurement set are processed to determine robot positioning errors and sensor location errors.
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申请公布号 |
US4967370(A) |
申请公布日期 |
1990.10.30 |
申请号 |
US19880260862 |
申请日期 |
1988.10.21 |
申请人 |
ROBOTIC VISION SYSTEMS, INC. |
发明人 |
STERN, HOWARD K.;SCHMUTER, SAMSON L. |
分类号 |
B25J9/16;B25J9/18 |
主分类号 |
B25J9/16 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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