Robot end effector position error correction using auto-teach methodology
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United States of America Patent
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May 2, 2006
Grant Date -
Jan 27, 2005
app pub date -
Jul 23, 2003
filing date -
Jul 23, 2003
priority date (Note) -
In Force
status (Latency Note)
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Abstract
A robot arm positioning error is corrected by employing a specimen gripping end effector in which a light source and a light receiver form a light transmission pathway that senses proximity to the specimen. A robot arm old position is sensed and recorded. The robot arm retrieves the specimen from the old position and employs old position information to replace the specimen at a new position that is ideally the same as the old position. A robot arm new position is sensed and recorded. A difference between the new and old positions represents a position error. A correct position is obtained by processing the position error and the old position information.
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