초록 ▼

A system for calibrating a robot used for inspecting a workpiece to maintain the accuracy of the robot during inspection of workpieces on a production basis, the system including means for storing a mathematical model of the robot, means for measuring the position of a target and then calibrating th

A system for calibrating a robot used for inspecting a workpiece to maintain the accuracy of the robot during inspection of workpieces on a production basis, the system including means for storing a mathematical model of the robot, means for measuring the position of a target and then calibrating the robot based upon input from the mathematical model and the position of the target.

대표청구항 ▼

[ I claim:] [1.]1. A system for calibrating a robot to be used for inspecting a workpiece said robot having a robot arm, said robot arm having an outer end, a camera and a laser light source mounted to said outer end of said robot arm for inspecting said workpiece, said system for calibrating said r

[ I claim:] [1.]1. A system for calibrating a robot to be used for inspecting a workpiece said robot having a robot arm, said robot arm having an outer end, a camera and a laser light source mounted to said outer end of said robot arm for inspecting said workpiece, said system for calibrating said robot comprising:said outer end of said robot arm being movable within a working envelope;means for controlling the outer end of said robot to a plurality of positions within said working envelope;said laser light source generating a plane of laser light normal to said laser light source;said camera mounted on said outer end of said robot arm at an angle relative to said laser light source;a target positioned within said working envelope;said laser light source projecting said plane of laser light onto said target at each of said plurality of positions of said outer end of said robot arm, said camera generating a measurement of said target at each of said plurality of positions by viewing said projected laser light on said target;means for storing a mathematical model of said robot; andmeans for calibrating the position of said robot arm based upon said mathematical model of said robot, of said target and said plurality of measurements by said camera of said projected laser light on said target.