Patent ID: 9718192
Date: 2017-08-01
CPC Classifications: B25J,G01B,G05B,Y10S

Claim:
1. A system for automatically and precisely positioning a robotic arm, comprising: the robotic arm, having at least four degrees of freedom, and further comprising: at least three positioning devices, disposed on an operating plane in an operating space of the robotic arm; and a control computing apparatus, configured for controlling the probe of the robotic arm to touch one of the positioning devices, wherein when the control computing apparatus controls the probe to touch one of the positioning devices once, the moment sensing device of the robotic arm acquires a moment variation of each of the axes and provides the moment variations to the control computing apparatus, the control computing apparatus computes a distance between a geometric center of the touched positioning device and a touching point where the probe touches the one of the positioning devices according to a geometric feature of the touched positioning device, and then precisely positions the robotic arm according to the moment variations of the axes and the distance between the geometric center of the touched positioning device and the touching point where the probe touches the one of the positioning devices.