Patent ID: 6640458
Filing Date: 2003-11-04
Classification: B25J

Abstract:
An adjustable end arm effector alignment system comprising:an arm having a working end; an alignment support in a known location relative to said arm; an adjustable end arm effector attached to one of said working end of said arm and said alignment support, said adjustable end arm effector including at least two alignment members; at least one cooperating alignment member attached to the other of said working end of said arm and said alignment support, said at least one cooperating alignment member being adapted to cooperate with said at least two alignment members; and a control system operable to move said working end of said arm into a first alignment position where one of said at least two alignment members cooperates with said at least one cooperating alignment member to identify when said adjustable end arm effector is appropriately adjusted with respect thereto, and operable to subsequently move said working end into a second alignment position where another of said at least two alignment members cooperates with said at least one cooperating alignment member to identify when said adjustable end arm effector is appropriately adjusted with respect thereto.