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22. 发明授权

US07236853B2 Automated robot alignment system and method using kinematic pins and end effector sensor 有权
标题翻译：自动机器人对准系统和使用运动销和末端执行器传感器的方法
公开(公告)号：US07236853B2
公开(公告)日：2007-06-26
申请号：US10956309
申请日：2004-10-01
申请人： Stanley W. Stone , Kevin M. Daniels
发明人： Stanley W. Stone , Kevin M. Daniels
IPC分类号： G06F19/00 , B25J9/18
CPC分类号： B25J9/1692 , G05B2219/39015 , G05B2219/45056
摘要： A method and system can align a robot arm with a payload station. A probe and a contact detector may be positioned on the robot arm and three pins may be placed on the payload station. A controller may move the robot arm in a pattern over the payload station until contact may be made between the probe and one of the pins. A search about the contact location may be performed to obtain additional contacts. The search may be interrupted when contact is made between the probe and one of the pins. The position of the pin may be calculated from three such contacts on the spherical portion of the pin. The location of the probe at the time of contact may be stored and a localized search about the pin location may be performed. If the position of the pin cannot be resolved from three contacts, additional contacts may be made until a combination of three contacts does provide a solution. Three such pins may be so located such that the robot arm may learn the position of the payload station without operator intervention.
摘要翻译：一种方法和系统可以将机器人臂与有效载荷站对齐。探头和接触检测器可以定位在机器人臂上，并且三个引脚可以放置在有效载荷台上。控制器可以以有模式的方式将机器人手臂移动到有效载荷台上，直到探针和其中一个引脚之间可以接触。可以执行关于联系人位置的搜索以获得附加的联系人。当探头和其中一个引脚之间进行接触时，可能会中断搜索。销的位置可以从销的球形部分上的三个这样的触点计算。可以存储接触时探头的位置，并且可以执行关于引脚位置的局部搜索。如果引脚的位置不能从三个触点解决，则可以进行额外的触点，直到三个触点的组合确实提供了一个解决方案。三个这样的销可以如此定位，使得机器人臂可以在没有操作者干预的情况下学习有效载荷站的位置。

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