Patent ID: 6681151
Filing Date: 2004-01-20
Classification: B25J,G05B

Abstract:
A system for guiding a robot, carrying a workpiece, operating in a work area comprising:a machine vision system having a camera located so as to acquire an image of the work area, the machine vision system including a machine vision search tool for locating an instance of a trained pattern in the image, the tool registering the trained pattern transformed by at least two translational degrees of freedom and at least one non-translational degree of freedom with respect to an image plane acquired by the machine vision search tool; a fiducial, on the workpiece, the fiducial matching the trained pattern; wherein the search tool is for determining, based upon the image, a relative location of the workpiece with respect to a predetermined reference point in the machine vision search tool at which the workpiece is employed; and means for mapping between the predetermined reference point in the machine vision search tool and a predetermined reference point in a reference system of the robot.