Edgar R Turner

US Patent:

48315494, May 16, 1989

Filed:

Jul 28, 1987

Appl. No.:

7/079168

Inventors:

Walter E. Red - Provo UT
Brady R. Davies - Orem UT
Xuguang Wang - Provo UT
Edgar R. Turner - Provo UT

Assignee:

Brigham Young University - Provo UT

International Classification:

G06F 1546
G05B 1942

US Classification:

364513

Abstract:

A method and device for improving orientation and/or location accuracy of a programmable robot with respect to a target object. The method consists of calibrating the position of a terminal control frame associated with a robot end-effector which is coupled to a robot distal link. Separated reference positions external from the robot are identified, as to geometry and spatial data. This identification data is stored for later recall and comparison for use in determining a localized relative frame of reference. The robot end-effector is moved to a first reference position and a rigid body error correction is determined. This correction is stored in computer memory for application to later computer movement.