Patent ID: 9199378
Filing Date: 2015-12-01
Classification: B25J,G05B

Abstract:
1. An apparatus for determining at least one of a position or an orientation of a reference point on a robotic manipulator, the apparatus comprising: a first measurement body; attachment structure operatively coupled to said first measurement body for fixing said first measurement body against movement with respect to a first reference frame during calibration; at least one first measurement feature on said first measurement body, the first measurement feature used for determining at least one of a position or an orientation of the reference point on the robotic manipulator relative to a second reference frame associated with said first measurement body; at least one first calibration feature on the apparatus, the first calibration feature used for determining at least one of a position or an orientation of the second reference frame relative to the first reference frame; at least one second measurement feature on said attachment structure; at least one second measurement body; second attachment structure operatively coupled to said second measurement body for fixing said second measurement body with respect to the first reference frame; at least one third measurement feature on said second measurement body, the third measurement feature used for determining at least one of a position or an orientation of the reference point on the robotic manipulator relative to a third reference frame associated with said second measurement body; at least one second calibration feature on the apparatus, the second calibration feature used for determining at least one of a position or an orientation of the third reference frame relative to the first reference frame; and at least one fourth measurement feature on said second attachment structure.