초록 ▼

The video image of the end effector (26) and work surface (32) in the vicinity of the end effector is converted into a series of continually generated digitized images (132), which are further processed to detect and track the relative motion between the end effector and the work surface. After cali

The video image of the end effector (26) and work surface (32) in the vicinity of the end effector is converted into a series of continually generated digitized images (132), which are further processed to detect and track the relative motion between the end effector and the work surface. After calibration (126), whereby an index of coordinates and arm orientation is established for a known positioning of the end effector relative to a known reference feature (28a) on the work surface, the tracking (168) of the motion of the end effector is utilized to continually update the index (104) to indicate the actual coordinate and orientation of the end effector relative to the work surface. The updated index is displayed on a live video monitor (44), and can be used as input to the feedback circuit (94) of the manipulator control system. In another embodiment of the invention, a high resolution monitor (52) displays an image of substantially the entire work surface, and particularly the features of interest, in the nature of a work surface map, and superimposes thereon a visual indication of the location, orientation and movement of the end effector, using the updated index information.

대표청구항 ▼

A system for sensing the position of an end effector on a remotely manipulated robot arm, comprising: a manipulator arm having at least two degrees of freedom for displacing an end effector; an arm control system responsive to input signals generated remotely from the arm, for positioning the arm re

A system for sensing the position of an end effector on a remotely manipulated robot arm, comprising: a manipulator arm having at least two degrees of freedom for displacing an end effector; an arm control system responsive to input signals generated remotely from the arm, for positioning the arm relative to a stationary work surface; means for illuminating the work surface in the vicinity of the end effector; means for generating a video image of the end effector and the illuminated surface; means for establishing a reference coordinate of the end effector for a known reference position of the arm relative to the work surface; means for generating a digitized image of at least a portion of the generated video image when the video image includes the reference position; means for calibrating the digitized image to the video image by associating the reference coordinate of the end effector in the video image with a reference coordinate of the end effector in the digitized image; means for continually processing changes in the digitized images resulting from changes in the video images accompanying displacement of the arm from the reference position by the arm control system, to continually track the path of movement of the arm; and means responsive to the means for processing changes, for continually generating an index indicative of the actual coordinate of the end effector relative to the work surface as the arm is displaced along the work surface.