Patent ID: 9026249
Filing Date: 2015-05-05
Classification: B25J,G05B

Abstract:
1. A method of calibrating a robot, comprising: attaching an alignment tool to an end effector of said robot, where said end effector is part of a gantry module, where said alignment tool comprises one or more spaces, each space having three respective fingers; moving said end effector to a first location within a field of view of a camera; lowering said end effector; placing a respective workpiece in one or more of said spaces while pressing each workpiece against said respective three fingers, while said end effector is in said first location; saving a first set of coordinate locations for each space in said first location using a coordinate system referenced to said gantry module; moving said end effector without affecting a position of said workpieces from said first location to a second location within said field of view; placing a respective workpiece in one or more of said spaces while pressing each workpiece against said respective three fingers, while said end effector is in said second location; saving a second set of coordinate locations for each space in said second location using a coordinate system referenced to said gantry module; moving said end effector without affecting a position of said workpieces from said second location to a location outside said field of view; using said camera to capture an image of said workpieces after said end effector is moved to said location outside said field of view; determining a third set of coordinate locations for each workpiece using a coordinate system referenced to said camera; and calculating a transformation equation to transform coordinate locations in said coordinate system referenced to said camera to coordinate locations in said coordinate system referenced to said gantry module, using said first set, said second set and said third set of coordinate locations.