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:
Jun. 09, 2015
Filed:
Feb. 05, 2014
Fanuc Ltd, Minamitsuru-gun, Yamanashi, JP;
FANUC LTD, Minamitsuru-gun, Yamanashi, JP;
Abstract
A measurement apparatus for determining a position of a tool center point () of a tool (), which is attached to a tool attachment surface () of a robot (), with respect to the tool attachment surface () includes: a camera () attached to the arm tip portion of the robot (); a touch-up point (an origin of Σm) disposed in a working space of the robot; a measurement section () for measuring the position of the touch-up point by using the robot and the camera; a first storage section () for storing the measured position of the touch-up point; a second storage section () for storing a position of the robot () when the tool center point is aligned with the touch-up point by moving the robot; and a calculation section () for calculating the position of the tool center point with respect to the tool attachment surface of the robot by using the stored positions of the touch-up point and the robot. Therefore, the position of the tool center point with respect to the tool attachment surface is measured with high accuracy in a short period of time without using a substitution jig.