Patent ID: 6434449
Filing Date: 2002-08-13
Classification: B25J,G05B

Abstract:
A system for calibration of a robot comprising:a robot carrying an end-effector having a tool center point (TCP) and movable within a working envelope; a means for controlling the robot to move the TCP of said end-effector to a plurality of positions within said working envelope; a measurement sensor mounted in a known relation to said end-effector; means attached to the robot selectively operable to actuate said measurement sensor at a plurality of positions of said robot thereby generating a plurality of measurements; a means for mathematically describing a portion of the 3D contour of said attached means; a means for calibrating said robot, said TCP of said end-effector, location of said measurement sensor, and said attached means based on a comparison of said mathematically described contour of said mechanical component and said plurality of measurements.