Hewlett-packard Company

Arthur Schleifer

Paul C Dryden

Barry G Willis

Andrew Stefanski

Philip B Fuhrman

Norton W Bell

C Nelson Dorny

Gary B Gordon

John S Poole

Joseph Charles Roark

Gilbert Segal

Mark E Shuman

Methods of programming mechanical manipulators are disclosed that permit a mechanical manipulator to be programmed to perform coordinated motions between one or more modules comprised of equipment with which the manipulator will interact by defining an origin point and one or more frame points related to each of the modules relative to the origin point. Each of the modules associated with a frame point is then identified and a module program describing pre-programmed manipulator motions related to each of the modules is accessed. Finally, a sequence of motions between the origin and each of the frame points of the modules is defined. The step of locating frame points can be carried out in several different ways, using a teach pendant or by automatically locating the module frame points using an infrared sensor, electric field sensor, acoustic sensor, or force sensor. Methods of programming a mechanical manipulator to move between an origin point and one or more modules are also disclosed which comprise the steps of creating a programming element representative of each module and its corresponding module program. An origin frame point is again defined and the programming elements are assembled to correspond to one or more modules that represent the desired manipulator motion. Finally, the frame point of each of the selected modules is defined relative to the origin point. The programming elements can be comprised of commands, portions of a computer program or icons that represent the module and module program. In a preferred embodiment, each of the module programs begins and ends with the manipulator at a safe point defined as a point from which the manipulator may move in at least one direction without encountering an obstruction. Methods of controlling a manipulator after it has encountered an obstruction are also disclosed.

Methods for automatically programming spatial information in robotic

Methods of calibrating robotic manipulators are disclosed. The present invention uses an inclinometer or a leveling device to provide a reference to calibrate each encoder for each joint of a robotic manipulator. The inclinometer or leveling device is most preferably an electronic protractor or similar device that is placed on a surface of one of the links and the joint is moved until the link is at a preselected angle. In certain embodiments an offset position between the level position and an index position for an absolute encoder is determined and absolute encoder data describing the offset position is recorded. Preferably, the inclinometer is capable of generating a signal that indicates the angle of the surface of the link with respect to the gravity vector. This signal can be used to control the joints and automatically calibrate the manipulator.

Positional calibration of robotic arm joints relative to the gravity

An instrument is disclosed which performs measurements and calculates the average and the variance of the measurements. The particular instrument illustrating the invention is a spectrophotometer which measures sets of dark, reference and sample spectra for use in calculating an average absorbance spectrum and its variance. The measurements are performed in an order which enables the cancellation of measurement variation due to variation in instrument response. The order of measurements is determined by measurement subroutines which can be aggregated to produce a series of measurements performed over a user selected period of integration time.

Method of performing measurements and error analysis of the measurements

Apparatus for performing measurements and error analysis of the

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Palo Alto, CA, United States of America

Arthur Schleifer