The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 06, 2005
Filed:
Jan. 31, 2003
Qing Tang, Granby, CT (US);
Hakan Brantmark, Vasteros, SE;
Zhongxue Gan, Windsor, CT (US);
Torgny Brogardh, Vasteras, SE;
Qing Tang, Granby, CT (US);
Hakan Brantmark, Vasteros, SE;
Zhongxue Gan, Windsor, CT (US);
Torgny Brogardh, Vasteras, SE;
ABB Research Ltd., Zurich, CH;
Abstract
A robot having a spindle is calibrated by disposing a calibration tool in the robot spindle. The position of the calibration tool is measured. An axis of the spindle is determined based on the measured position. A calibration tool center point is determined based on the measured position. A robot tool rotation axis is determined based on the determined spindle axis, robot tool center point, the determined calibration tool center point, and difference in length between the calibration tool and a robot tool.