Automatic Robot Initialization Using a Planar Target Scanned by an Optical Reflection Sensor

摘要

We describe an automatic initialization scheme for finding a point of coincidence between a robot's internal coordinate system and the coordinate system of its work space. Our method uses an optical transmitter-receiver pair mounted on the robot end effector to scan a T-shaped planar target mounted on the work surface. An automated iterative method for moving a point on the end effector into precise coincidence with the point of intersection between a sensed plane parallel to the work surface and a sensed line normal to the work surface is shown to converge rapidly.