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    METHODS, SYSTEMS, AND APPARATUS FOR CALIBRATION OF AN ORIENTATION BETWEEN AND END EFFECTOR AND AN ARTICLE
    1.
    发明公开
    METHODS, SYSTEMS, AND APPARATUS FOR CALIBRATION OF AN ORIENTATION BETWEEN AND END EFFECTOR AND AN ARTICLE 审中-公开
    方法，比对的末端执行器和物品之间的校准系统和装置

    公开(公告)号：EP2659316A1

    公开(公告)日：2013-11-06

    申请号：EP12760915.4

    申请日：2012-03-16

    申请人： Siemens Healthcare Diagnostics Inc.

    发明人： CHHATPAR, Siddharth Ram ,  NAIK, Sandeep, M.

    IPC分类号： G05B19/04

    CPC分类号： G05B19/04 ,  B25J9/1692 ,  G05B2219/39021 ,  G05B2219/39024

    摘要： Disclosed are methods adapted to aid in a calibration of a robotic end effector. The method includes providing a robotic component having an end effector and a light beam sensor provided in a fixed orientation to the end effector fingers, rotating a light beam of the light beam sensor relative to a geometrical calibration feature of a teach tool mounted in an approximately known orientation to an article, and determining a precise location (e.g., center) of the geometrical calibration feature based upon engagement of the light beam with edges of the geometrical calibration feature. In another aspect, a rotational orientation of the fingers of the end effector are calibrated using the teach tool. A novel teach tool and a robot calibration system including the teach tool are disclosed, as are other aspects.