Patent US4581566A successfully refreshed from Google Patents.
US4581566A
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System for automatically calibrating a robot
Assignee: International Business Machines Corp
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Filing: 1984-07-09
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Granted: 1986-04-08
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Expires: 2004-07-09
Abstract
Abstract A system for automatically calibrating a robot in all degrees of freedom in one point to compensate for inaccuracies in the different coordinate directions. The system includes moving a measuring body, held by the robot gripper, in response to a command representative of a previously determined nominal position within a measuring fixture known to the robot controller, determining by means of sensing means the actual position reached by said measuring body, calculating the errors in the different coordinate directions based on the measured values and the nominal position values and compensating for the errors in respective coordinate directions.
Inventors
- 👤 Gosta E. Ekstrom
- 👤 Laszlo Szonyi
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 17:15
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/16; B25J9/1679; B25J9/1692; G; G05; G05B; G05B2219/00; G05B2219/30; G05B2219/50; G05B2219/50139
Claims Analysis
Total Claims: 10
Claim 1
Independent Claim
111 words
A system for automatically calibrating and compensating a robot in all degrees of freedom, characterized by the steps of: grasping a measuring body at a predetermined position with the robot gripper; moving said measuring body held by the robot gripper in response to a robot command to a previously determined nominal position within a measuring fixture; determining the actual position reached by said measuring body by means of simultaneous actual measurement by means of a plurality of sensing means; calculating the differences in the different coordinate directions between the measurement values received from said sensing means and the nominal position values, and compensating for said differences in the respective coordinate directions.
Claim 2
Independent Claim
111 words
A system for automatically calibrating and compensating a robot in all degrees of freedom, characterized by the steps of: grasping a measuring body at a predetermined position with the robot gripper; moving said measuring body held by the robot gripper in response to a robot command to a previously determined nominal position within a measuring fixture; determining the actual position reached by said measuring body by means of simultaneous actual measurement by means of a plurality of sensing means; calculating the differences in the different coordinate directions between the measurement values received from said sensing means and the nominal position values, and compensating for said differences in the respective coordinate directions.
Claim 3
Dependent Claim
29 words
A system according to claim 1, characterized in that said measuring body includes a plurality of surfaces, the positions of which are exactly defined in relation to said gripper.
Claim 4
Dependent Claim
18 words
A system according to claim 2, characterized in that said plurality of surfaces are perpendicular to each other.
Claim 5
Dependent Claim
42 words
A system according to claim 1, characterized in that said measuring body includes three surfaces of a cube and said predetermined position at which said measuring body is grasped is determined by aligning the gripper definition point with the cube central point.
Claim 6
Dependent Claim
33 words
A system according to claim 4, characterized in that said measuring body includes an intermediate wall having a guiding profile for guiding the cube central point into coincidence with the gripper definition point.
Claim 7
Dependent Claim
46 words
A system according to claim 1, characterized in that the measuring fixture consists of a number of surfaces, the position of which are exactly defined in relation to the robot coordinate system, said measuring fixture surfaces having said sensing means located therein in a predetermined pattern.
Claim 8
Dependent Claim
18 words
A system according to claim 6, characterized in that said measuring fixture surfaces are perpendicular to each other.
Claim 9
Dependent Claim
32 words
A system according to claim 6, characterized in that said measuring fixture includes three surfaces of a cube which surfaces correspond to the three surfaces of a cube in said measuring body.
Claim 10
Dependent Claim
55 words
A system according to claim 8, characterized in that the three measuring fixture surfaces of a cube include three of said sensing means in a first surface of a cube two of said sensing means in a second surface of a cube and one of said sensing means in a third surface of a cube.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1989-04-07 | 1989-10-07 | 1990-04-08 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1993-04-07 | 1993-10-07 | 1994-04-08 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1997-04-07 | 1997-10-07 | 1998-04-08 | $7700.00 | Window Closed / Lapsed |