31 results about "Rotational error" patented technology

A numerical controller capable of moving a tool end point position to an accurate position in a five-axis machining apparatus. Compensation amounts are set, which correspond to respective ones of a linear axis-dependent translational error, a rotary axis-dependent translational error, a linear axis-dependent rotational error, and a rotary axis-dependent rotational error, which are produced in the five-axis machining apparatus. A translational / rotational compensation amount Δ3D is determined from these compensation amounts and added to a command linear axis position Pm. As the compensation amounts, there is used a corresponding one of six-dimensional lattice point compensation vectors, which are determined in advance as errors due to the use of a mechanical system and measured at lattice points of lattices into which the entire machine movable region is divided.

A wafer stage device and control system are provided to stabilize a wafer stage and a wafer table in a wafer manufacturing process. The wafer table supports the semiconductor wafer, while the wafer stage is accelerated in response to a wafer manufacturing control system to position the wafer table. The wafer stage device includes a set of flexures connecting the wafer table to the wafer stage. The flexures are positioned in a plane which is substantially in alignment with an upper surface of the wafer. The flexure's configuration causes a rotational error, such as pitching or rolling, of the wafer table as the wafer stage moves. The wafer stage device further includes a plurality of actuators to control the rotational error by exerting a stabilizing torque to the wafer table. The control system determines the stabilizing torque necessary to correct the pitching or rolling error of the wafer table.

The present invention provides a nerve monitoring device. The device includes a cannula, a sensor for monitoring the nerve and an alignment device. The cannula can be any surgical cannula, and is preferably an endotracheal tube. The sensor can be an electrode or other sensor that is capable of sensing nerve activity. The alignment device is a device that ensures that after insertion of the nerve sensor into a patient, the sensors are aligned to properly monitor the target nerve or muscle. The internal alignment device may communicate externally to surgeon by using electromagnetic energy as either a transmittor or a receiver. The mismatch of triangular laryngeal anatomy to circular cannula anatomy can be compensated for by a) altering the geometry (external shape) of the cannula and b) using soft, felt-like expandable electrodes. Rotational error can be compensated for by using a multi-electrode array wherein the optimized recording montage can be simply selected on the external recording device.

The present invention relates to a method for hard-fine machining of tooth flanks with corrections and / or modifications on a gear-cutting machine, wherein respective toothed wheel pairings which mesh with one another within a transmission or a test device are machined while taking account of the respective mating flanks, and wherein the tooth flanks of the relevant workpieces are provided with periodic waviness corrections or waviness modifications. In accordance with the invention, the rotational error extent is determined by means of rotational distance error measurement of the toothed wheel pairs in a gear measuring device and / or transmission. This measurement result serves as an input value for defining the amplitude, frequency and phase position for the periodic flank waviness corrections on the tooth flanks of the toothed wheel pairings for production in the gear-cutting machine.

The invention provides a numerical controller for controlling a five-axis machining apparatus. The numerical controller capable of moving a tool end point position to an accurate position in a five-axis machining apparatus. Compensation amounts are set, which correspond to respective ones of a linear axis-dependent translational error, a rotary axis-dependent translational error, a linear axis-dependent rotational error, and a rotary axis-dependent rotational error, which are produced in the five-axis machining apparatus. A translational / rotational compensation amount 3D is determined from these compensation amounts and added to a command linear axis position Pm. As the compensation amounts, there is used a corresponding one of six-dimensional lattice point compensation vectors, which are determined in advance as errors due to the use of a mechanical system and measured at lattice points of lattices into which the entire machine movable region is divided.

Methods of correction of rotational and linear misalignment in multi-link robots are provided. The method allows for precise orientation of an end effector to put or pick substrates at a target destination by correcting for both positional and rotational orientation errors. The method rotates a boom linkage to a position adjacent to the target destination, corrects for linear and rotational error by rotating a boom linkage as well as an upper arm link as well as extending or retracting a wrist member. Systems including long boom linkages are disclosed. Numerous other aspects are provided.

A numerical controller capable of moving a tool end point position to an accurate position in a five-axis machining apparatus. Compensation amounts are set, which correspond to respective ones of a linear axis-dependent translational error, a rotary axis-dependent translational error, a linear axis-dependent rotational error, and a rotary axis-dependent rotational error, which are produced in the five-axis machining apparatus. A translational / rotational compensation amount Δ3D is determined from these compensation amounts and added to a command linear axis position Pm. As the compensation amounts, there is used a corresponding one of six-dimensional lattice point compensation vectors, which are determined in advance as errors due to the use of a mechanical system and measured at lattice points of lattices into which the entire machine movable region is divided.

The present invention relates to an image processing apparatus having an automatic compensation function for an image obtained from a camera, and a method thereof, and provides an image processing apparatus having an automatic compensation function for an image obtained from a camera, the apparatus comprising: an automatic compensation pattern of which one or more can be provided in an arbitrary place near a camera; an input / output module which receives an image as an input from the camera and transmits the same to the image processing apparatus; and an image processing module which is a processing unit containing an algorithm for compensating for distortion of the image obtained from the camera, wherein the input / output module comprises an image input / output unit for transmitting / receiving data in between the camera and the image processing module, and a storage unit for storing information processed by the image processing module, and the image processing module comprises a distortion compensation unit, an image alignment estimation unit, and an image alignment generation unit, the distortion compensation unit extracting, from the received image, characteristic points of the automatic compensation pattern, estimating the absolute location and installation angle of the camera by using the information based on the extracted characteristic points, and performing lens distortion compensation by using an inner parameter stored in the storage unit, the image alignment estimation unit estimating, in the image, the camera installation location and rotational error as a change parameter by using information on the absolute location and installation angle of the camera estimated in the distortion compensation unit, and the image alignment generation unit compensating for the three-dimensional location and size of the image by using the change parameter estimated in the image alignment estimation unit.

Methods and apparatus for high speed workpiece handling are provided. A method for workpiece handling includes: utilizing a first robot to remove a workpiece from a first magazine; transferring the workpiece from the first robot directly to a second robot without transferring the workpiece to a transfer station; utilizing the A second robot places the workpiece on a workpiece holder at a processing station; and transfers the workpiece from the workpiece holder to the first cassette with the first robot after processing. The end effectors of the first and second robots may each have a plurality of vertical positions for efficient workpiece handling. The displacement and rotation errors of the workpiece can be sensed and corrected without using a transfer station. The method and apparatus are useful for handling semiconductor wafers.

The invention provides a control system for a stereo video camera. The control system can obtain stereo images with stereo visual effects even under the condition of unknown relative position relationship between two shooting parts. The control system for the stereo video camera comprises the two shooting parts, an error computing part and a control part, wherein the two shooting parts at least have one controllable digital or analogue degree of freedom for any parameter of Yaw, Pitch, Roll and a zoom rate, and can shoot continuous images by own shooting elements; the error computing part computes a rotating error and a zoom error between the shooting parts by comparing each image shot by the two shooting parts with a preset standard convergence model of each shooting part; and the control part controls the rotating angle and zoom rate of each shooting part by utilizing the rotating error and the zoom error computed by the error computing part.

Provided is a measuring method including: transferring a measuring mark disposed on an original to a substrate at a plurality of locations; moving a substrate stage for holding the substrate so that the substrate is rotated by 90 degrees about a rotation axis parallel to an optical axis of a projection optical system; then transferring the measuring mark to the substrate at a plurality of locations so that the measuring mark overlaps the transfer region; measuring positional deviations among the transferred measuring marks and a first overlap mark in a region where the transfer regions overlap each other; and calculating at least one of a positional error of a shot on the substrate, a rotational error of the same, and an orthogonality in shot arrangement based on a result of the measurement.

Methods of correction of rotational and linear misalignment in multi-link robots are provided. The method allows for precise orientation of an end effector to put or pick substrates at a target destination by correcting for both positional and rotational orientation errors. The method rotates a boom linkage to a position adjacent to the target destination, corrects for linear and rotational error by rotating a boom linkage as well as an upper arm link as well as extending or retracting a wrist member. Systems including long boom linkages are disclosed. Numerous other aspects are provided.

An adaptive movement selection method for in-line calibration of robot's hand and eyes includes using the previous 5 movement parameters of the hands of robot to calculate the inertial values of 3 thresholds for movement selection, in-line calibration of hands and eyes on the basis of movement selection, calculating rotational error and traslation error, adaptively changing said 3 thresholds, performing movement selection and calibration of hands and eyes again, and cyclically repeating above-said steps.

Methods of correction of rotational and linear misalignment in multi-link robots are provided. The method allows for precise orientation of an end effector to put or pick substrates at a target destination by correcting for both positional and rotational orientation errors. The method rotates a boom linkage to a position adjacent to the target destination, corrects for linear and rotational error by rotating a boom linkage as well as an upper arm link as well as extending or retracting a wrist member. Systems including long boom linkages are disclosed. Numerous other aspects are provided.

A method of applying a registered pattern to a continuous web of material involves determining a position of a next pattern such that the next pattern is in registration with a previous pattern, adjusting the position to maintain a transverse location relative to the web, and adjusting a rotation of the pattern so that the pattern is substantially aligned with a longitudinal axis of the web. Registration features of the web and registration features of the next pattern are used to determine longitudinal, transverse, and rotational errors between the registered position of the next pattern and the path of the web. The registered position of the next pattern is adjusted along a transverse axis of the web according to a transverse error to maintain the transverse location. A rotation of the registered position is adjusted according to an angle that is determined using the transverse error and a distance from a registration feature to a center of the pattern along a longitudinal axis of the pattern.

An error-correction method and apparatus are used for a step motor transmission system. The step motor has a plurality of inductor coils therein for rotating an internal shaft thereof. A rotational error gamma table is established by measuring an error value for each rotational step of the step motor. The error-correction apparatus receives an external digital displacement signal for producing a rotational step signal. A compensation current is produced according to the rotational step signal and an error value in the rotational error gamma table. The inductor coils are driven by the compensation current to rotate the internal shaft precisely.

A method of applying a registered pattern to a continuous web of material involves determining a position of a next pattern such that the next pattern is in registration with a previous pattern, adjusting the position to maintain a transverse location relative to the web, and adjusting a rotation of the pattern so that the pattern is substantially aligned with a longitudinal axis of the web. Registration features of the web and registration features of the next pattern are used to determine longitudinal, transverse, and rotational errors between the registered position of the next pattern and the path of the web. The registered position of the next pattern is adjusted along a transverse axis of the web according to a transverse error to maintain the transverse location. A rotation of the registered position is adjusted according to an angle that is determined using the transverse error and a distance from a registration feature to a center of the pattern along a longitudinal axis of the pattern.

The invention discloses an electronic scale anti-cheating method and an electronic scale with an anti-cheating function. The electronic scale anti-cheating method comprises the steps of acquiring original feature line y1=a1x and actual feature line y2=a2x of AD value of an electronic scale; calculating and judging whether a rotational error and a measurement error are within a preset error range according to the original feature line and the actual feature line; if not, sending a warning signal to a cloud platform. The reasonable preset error is given herein; the actual errors are calculated according to multiple acquired actual weights; if the actual errors exceed the reasonable preset error, it is indicated that the electronic scale cheats; the warning information is reported to the cloud platform so as to monitor the electronic scale in real time and avoid cheating; the electronic scale can be locked via the cloud platform to stop operating, and cheating behaviors can be delivered to a market supervision department.

The embodiment of the invention discloses a verification method and device for machining precision of a drilling and milling machine, the drilling and milling machine and a storage medium. The methodcomprises the following steps: controlling a drilling and milling machine to drill a reference hole corresponding to an analog value of a process test parameter on a substrate according to the analogvalue of the process test parameter, wherein the process test parameters at least comprise a reference point manufacturing error of the reference hole, an offset error of the substrate, a rotation error of the substrate and an expansion deformation error of the substrate; taking the reference hole as a visual positioning reference, and forming a secondary drill hole in the substrate; and measuringthe hole position precision of the secondary drilling, and if the hole position precision is larger than a standard threshold value, judging that the machining precision of the drilling and milling machine is qualified. According to the technical scheme provided by the embodiment of the invention, low-cost, high-efficiency and high-automation verification of the machining precision of the drilling and milling machine can be achieved.

The present invention relates to an image processing apparatus having an automatic compensation function for an image obtained from a camera, and a method thereof, and provides an image processing apparatus having an automatic compensation function for an image obtained from a camera, the apparatus comprising: an automatic compensation pattern of which one or more can be provided in an arbitrary place near a camera; an input / output module which receives an image as an input from the camera and transmits the same to the image processing apparatus; and an image processing module which is a processing unit containing an algorithm for compensating for distortion of the image obtained from the camera, wherein the input / output module comprises an image input / output unit for transmitting / receiving data in between the camera and the image processing module, and a storage unit for storing information processed by the image processing module, and the image processing module comprises a distortion compensation unit, an image alignment estimation unit, and an image alignment generation unit, the distortion compensation unit extracting, from the received image, characteristic points of the automatic compensation pattern, estimating the absolute location and installation angle of the camera by using the information based on the extracted characteristic points, and performing lens distortion compensation by using an inner parameter stored in the storage unit, the image alignment estimation unit estimating, in the image, the camera installation location and rotational error as a change parameter by using information on the absolute location and installation angle of the camera estimated in the distortion compensation unit, and the image alignment generation unit compensating for the three-dimensional location and size of the image by using the change parameter estimated in the image alignment estimation unit.

A communication device includes a display unit for displaying a display image based on an image that is captured by a capture unit, a retrieval unit for selectively retrieving one correction information item from an information processing device that stores, in advance, a plurality of the correction information items corresponding to rotational errors or tilts of the capture unit, and a correction unit for correcting the display image based on the retrieved correction information item.

The invention discloses a Doppler flow velocity detection method for an optical coherence tomography system, which includes the following steps: A scan mechanism performs transverse two-dimensional scanning on a steady-state calibration sample, the acquisition of three-dimensional interference signal data, Fourier transform is performed on each column of that sample three-dimensional interferencesignal data to obtain an OCT three-dimensional data map, the phase information in the OCT three-dimensional data is calculated, the phase information introduced by the scanning mechanism is extracted,according to the phase information introduced by the scanning mechanism, the rotational error parameters of the scanning mechanism are calculated, The phase information introduced by the OCT three-dimensional scanning is calculated, and the phase information is extracted to obtain the phase data map of the sample OCT scanning. The accurate phase map of the sample is obtained by subtracting the phase information introduced by the three-dimensional scanning from the phase data map, and the velocity distribution map of the sample is obtained by calculating the velocity of the sample according tothe accurate phase map of the sample. The invention can obtain the actual error of the scanning mechanism, and further obtain the accurate value of the phase error introduced by the scanning mechanism to the OCT imaging.

The invention discloses a device for measuring the dynamic revolution error of a main shaft of a set of revolution equipment. A connecting reference column is mounted between a reference rod and the main shaft, the measuring ends of four displacement sensors are arranged in the circumference of the standard rod and used to detect displacement of the reference rod, the signal output end of each displacement sensor is connected with a data collector, a signal conditioner and a host computer, and the end surface of the connecting reference column and the end surface, connected to the end surface of the connecting reference column, of the reference rod are provided with two symmetrical marks respectively. The invention also discloses a method for measuring the dynamic revolution error of the main shaft of the set of revolution equipment. The method comprises that the main shaft is rotated, and the displacement sensors record numbers; the main shaft is rotated again after the reference rod rotates for 180 degrees, and the displacement sensors record numbers; Fourier transform is carried out on data; and the radial revolution error of the main shaft is calculated according to the data. The error separating technology in the courter-rotating method is improved to measure the dynamic revolution error of the main shaft of the set of equipment, the measuring precision is substantially improved, and the device and method can be widely popularized and applied.

Methods and apparatus for high speed workpiece handling are provided. The method for workpiece handling includes removing a workpiece from a first cassette with a first robot, transferring the workpiece from the first robot directly to a second robot without transferring the workpiece to a transfer station, placing the workpiece on a workpiece holder at a processing station with the second robot, and transferring the workpiece from the workpiece holder to the first cassette with the first robot following processing. End effectors of the first and second robots may each have a plurality of vertical positions for efficient workpiece handling. Displacement error and rotational error of the workpiece may be sensed and corrected without use of a transfer station. The methods and apparatus may be used for handling semiconductor wafers.

The invention belongs to the field of optical measurement, and is a method for measuring the rotation angle of a rotating shaft that can suppress the influence of the inclination angle rotation error of a shaft system. The measurement principle system of the present invention is shown in FIG. 1 , the rotating shaft 2 with the optical wedge 5 is placed between the autocollimator 1 and the reflector 3 . Due to the refraction effect of the optical wedge 5, the beam emitted by the autocollimator 1 is reflected by the reflector 3, forms a deflection angle β with the outgoing beam, returns to the autocollimator 1, and converges into a light point image; when the rotating shaft 2 and the light When the wedge 5 rotates integrally, the reflected light beam rotates around the axis of the rotating shaft 2, and the light spot image in the autocollimator 1 moves along a circular trajectory; the computer 4 records the centroid coordinates of the light spot image on the circumference, and fits the trajectory circle The coordinates of the center of the circle, and then specify the starting point A and the end point B on the circumference, and use the coordinate values ​​of A and B to calculate the corresponding circle center opening angle, which is the rotation angle of the rotation axis 2 to be measured from A to B. In the present invention, the rotation error of the inclination angle of the shaft system hardly affects the measurement accuracy of the rotation angle.

The present invention provides a transfer device which can position with high accuracy, a surface mounting device, a method for producing an error table, programs, and a storing medium. Before electronic components are mounted on a printed board P, an operation control unit 77a adjusts mounting positions, by taking into account chucking positional offset of electronic components which is calculated by an image processor 73, based on the fetched image of a part recognition camera 6, and also, corrects rotational errors around a Z axis of each head based on an error table 74c.

Techniques are provided for controlling the reading of optical data from a master disk in a holographic replication system. Imperfections in the master disk or movement of the disk during a recording process may cause source beams to deviate from target data tracks. In some embodiments, a detector system is used to determine the focus and alignment of the source beams on the master disk, as well as the tilt and rotation of the disk with respect to the holographic replication system. The detector system may detect deviations in the intensity distribution of the reflections of the source beams and generate an error signal corresponding to focusing, tracking, tilt, and / or rotational errors. Servo-mechanical devices may actuate optical components to compensate for such errors.