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:
Jan. 09, 2007
Filed:
Apr. 07, 2005
Kazunori Ban, Minamitsuru-gun, JP;
Makoto Yamada, Minamitsuru-gun, JP;
Kazunori Ban, Minamitsuru-gun, JP;
Makoto Yamada, Minamitsuru-gun, JP;
Fanuc Ltd, Yamanashi, JP;
Abstract
The image of a tool center point () caught by a camera (light-receiving device)from two initial positions is moved to a predetermined point, by a predetermined point moving process, at the center of a light-receiving surface thereby to acquire robot positions (QfQf), based on which the direction of the view line () is determined. Next, the robot is moved to the position where the position (Qf) is rotated by 180 degrees around the Z axis of a coordinate system (Σv) thereby to execute the predetermined point moving process. After rotational movement, a robot position (Qf) is acquired. The midpoint between the position (Qf) and the position (Qf) is determined as the origin of a coordinate system (Σv). Using the position and the posture of the view line (), the position of the tool center point () is determined. Thus, the position of the tool center point with respect to the tool mounting surface can be determined using a fixed light-receiving device. By additionally measuring two points at known relative positions from the tool center point, the tool posture as well as the position of the tool center point can be determined.