Patent ID: 6356807
Filing Date: 2002-03-12
Classification: B25J,G05B,Y10T

Abstract:
A method of determining a contact position of a robot assembly relative to an object external to the robot assembly wherein the robot assembly includes at least one arm having a contact surface, and a controller, said method comprising the steps of:moving the robot assembly from an initial position where the contact surface is spaced from the external object toward the contact position where the contact surface of the robot arm contacts a point on the external object; determining operating values of the robot assembly as the robot assembly moves between the initial position and the contact position; establishing at least one operating parameter threshold; comparing the operating values to the operating parameter threshold; continuing the movement of the robot assembly provided the operating values are less than or equal to the operating parameter threshold; recording the contact position of the robot assembly relative to the external object when the operating values of the robot assembly exceed the operating parameter threshold; and said method characterized by the step of determining operating values of the robot assembly being further defined as monitoring an integral operating parameter within the robot assembly during the movement of the robot assembly between the initial position and the contact position to determine when the robot assembly contacts the external object.