Method and apparatus for determining position and orientation of mechanical objects
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United States of America Patent
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-
May 4, 1993
Grant Date -
N/A
app pub date -
Sep 14, 1990
filing date -
Sep 14, 1990
priority date (Note) -
Expired
status (Latency Note)
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Abstract
A computer-controlled machine equipped with sensors determines position and orientation of a workpiece, with respect to a model of the workpiece, which is stored in a data processing system interfaced to the machine, by measuring coordinates of points on the surfaces of the workpiece and determining a transformation in which a sum of squared distances from the points to the corresponding surfaces of the model is minimized. The determined transformation is improved so as to satisfy the specified tolerances.
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