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60results about "Compasses with pivoted arms" patented technology

Method and an apparatus for calibration of an industrial robot system

The present invention relates to a method and an apparatus for calibration of an industrial robot system including at least one robot (1) having a robot coordinate system (xr1,yr1,zr1) and a positioner (2) having a positioner coordinate system (xp,yp,zp) and adapted to hold and change the orientation of a workpiece by rotating it about a rotational axis. Target points for the robot are programmed with respect to an object coordinate system (xo1,yo1,zo1). The apparatus comprising a robot controller (3), at least three calibration objects (24a-c) arranged on the positioner, and a calibration tool (26) held by the robot. The positions of the calibration objects are known in the object coordinate system. The robot controller is configured to determine the positions of the calibration objects with respect to the robot coordinate system, to determine the positions of a first (24a) and a second (24c) of said calibration objects for at least three different angles of the rotational axis of the positioner, to determine the direction of the rotational axis of the positioner in the robot coordinate system based on the determined positions of the first and second calibration objects for the three angles of the axis, and to determine the relation between the first object coordinate system and the positioner coordinate system by performing a best fit between the known and the determined positions of the calibration objects.
Owner:ABB (SCHWEIZ) AG

Surface curvature measurement tool

A device for measuring the radius of curvature of a surface comprises a main body that is held above the surface being measured; and a non-contact sensor mounted to the main body that measures a distance between the surface being measured and the sensor, the device calculating the radius of curvature of the surface based on the measured distance. The device can further include a display mounted to the main body that displays the calculated radius of curvature. The non-contact sensor can be, for example, an acoustical distance sensor or an optical distance sensor. In one embodiment, the device includes two arms extending from the main body of the device and being substantially symmetric about the non-contact sensor, the arms terminating in contact points that make contact with the surface being measured. In another embodiment, the device includes three non-contact sensors mounted to the main body, each measuring a distance between the surface being measured and the respective sensor, the device calculating the radius of curvature of the surface based on the measured distances. In yet another aspect of the invention, a radius of curvature measuring device has an adjustable arm that is movable with respect to a main body and a linear encoder associated with the adjustable arm for measuring a distance from the surface of interest.
Owner:SURE SHOT MEDICAL DEVICE
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