公开(公告)号：US3246240A

公开(公告)日：1966-04-12

申请号：US19339862

申请日：1962-05-09

Applicant: IBM

Inventor： ARNOLD JOHN A ,  DAVID GORDON ,  KUTCHER MYRON M

IPC: G01R31/04

CPC classification number: G01R31/041

公开(公告)号：CA764079A

公开(公告)日：1967-07-25

申请号：CA764079D

Applicant: IBM

Inventor： ARNOLD JOHN A ,  GORDON DAVID ,  KUTCHER MYRON M

公开(公告)号：CA1155519A

公开(公告)日：1983-10-18

申请号：CA374682

申请日：1981-04-03

Applicant: IBM

Inventor： EVANS ROGER C ,  GRIFFITH JOHN E ,  GROSSMAN DAVID D ,  KUTCHER MYRON M ,  WILL PETER M

IPC: B25J9/16 ,  B25J9/18 ,  G05D3/00

Abstract: YO98-007 METHOD AND APPARATUS FOR CALIBRATING A ROBOT TO COMPENSATE FOR INACCURACY OF THE ROBOT A method and apparatus for calibrating a robot and using the results of this calibration to compensate for inaccuracies of the robot and also to diagnose robot deterioration. The method includes moving the robot to a set of nominal positions, commanded by the robot controller or measured by position encoders built into the robot, and determining the associated actual positions by measuring the robot position with an independent accurate measuring means or by aligning the robot end effector with an accurate calibration mask. The calibration results are stored and subsequently used to compensate for robot inaccuracy so that the robot moves to the actual desired positions.