Patent ID: 7813559

Claim:
A method of determining a location of a subsequent component on a subsequent workpiece, the method comprising: acquiring a before-placement standard image of an intended placement location on a standard workpiece using an image acquisition device; placing a standard component upon the standard workpiece using a robotic system of a pick and place machine and verifying placement of the standard component; acquiring an after-placement standard image including the standard component using the image acquisition device; creating a standard difference image from the before- and after-placement standard images; after acquiring the after-placement standard image, acquiring a before-placement test image of an intended placement location on a subsequent workpiece; placing a subsequent component upon the subsequent workpiece using the robotic system of the pick and place machine; acquiring an after-placement test image including the subsequent component; creating a test difference image from the before- and after-placement test images; calculating a first offset between the before-placement standard image and the before-placement test image; transforming the test difference image based on the first offset to generate a registered difference test image (DTR) that is registered to the standard before-placement image; and correlating the standard difference image to the registered difference test image (DTR) to generate a registration offset using a processor of a computer.