Patent ID: 6356808
Filing Date: 2002-03-12
Classification: B25J,Y10S

Abstract:
A method of cell alignment and identification and calibration of a robot tool, comprising the steps of:locating a robot part, preferably a part of the robot tool, to a position close to a detector assuming a known position relative to the task of the robot, moving said robot part repeatedly past the limit of the area of detection of the detector, during said robot movement, registering the pose of the robot, wherein said pose is a mechanical location as discerned by an control system, each time the surface of said robot tool comes into tangential contact with the area of detection, forming an over determined system of equations consisting of a correlation between the registered poses and unknown parameters regarding the detection area of the detector and the location of the robot part in space, said unknown parameters comprising parameters that determine the position of installation of the robot relative to its task, introducing an error vector into the system of equations, and solving said system of equations while minimizing the error vector, preferably in the least square sense, in order to thus identify said unknown parameters and the error vector.