US5740328A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Apparatus for robotic positional referencing and calibration
Assignee: University of California
•
Filing: 1996-08-12
•
Granted: 1998-04-14
•
Expires: 2016-08-12
Abstract
Abstract An apparatus for determining the relative position and pose of two objects. The apparatus includes a position sensing table and a tripod tactile sensing tool. The tactile sensing tool includes three digital indicator probes arranged in a tripod triangle. The position sensing table senses the position of each probe when in contact with the table. When all three probes are in contact with the table, the relative location of the table to the tool can be determined. The resulting information can be used for robotic part referencing and calibrations.
Inventors
- 👤 Bahram Ravani
- 👤 Walter W. Nederbragt
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-27 04:08
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/16; B25J9/1679; B25J9/1692
Claims Analysis
Total Claims: 15
Claim 1
Independent Claim
164 words
An apparatus for measuring relative position between objects, comprising: (a) a position sensing table having a planar surface, said position sensing table including means for providing an output signal indicative of the position of a transducer contacting the surface of said position sensing table relative to a fixed position on said position sensing table; (b) a plurality of probes coupled to a support member in a triangular configuration, each probe having a displaceable tip, each said probe having means for providing an output signal indicative of the valve of displacement of said probe tip relative to a fixed position on said support member; (c) said probe tip having transducer means which uses said position sensing table for sensing when said probe tip contacts the surface of said position sensing table; and (d) processing means for determining the relative position of said support member and said position sensing table from position signals provided from said position sensing table and displacement signals provided from said probes.
Claim 2
Independent Claim
164 words
An apparatus for measuring relative position between objects, comprising: (a) a position sensing table having a planar surface, said position sensing table including means for providing an output signal indicative of the position of a transducer contacting the surface of said position sensing table relative to a fixed position on said position sensing table; (b) a plurality of probes coupled to a support member in a triangular configuration, each probe having a displaceable tip, each said probe having means for providing an output signal indicative of the valve of displacement of said probe tip relative to a fixed position on said support member; (c) said probe tip having transducer means which uses said position sensing table for sensing when said probe tip contacts the surface of said position sensing table; and (d) processing means for determining the relative position of said support member and said position sensing table from position signals provided from said position sensing table and displacement signals provided from said probes.
Claim 3
Dependent Claim
24 words
An apparatus as recited in claim 1, further comprising means for sequentially sensing the position of said probe tips by said position sensing table.
Claim 4
Dependent Claim
19 words
An apparatus as recited in claim 1, further comprising means for sequentially sensing the displacement of said probe tips.
Claim 5
Dependent Claim
16 words
An apparatus as recited in claim 1, wherein said processing means comprises a programmed data processor.
Claim 6
Dependent Claim
157 words
A tripod tactile sensing system for robot calibration and referencing, comprising: (a) a planar position sensing table, said position sensing table including means for providing an output signal indicative of the position of a transducer contacting said position sensing table relative to a fixed position on said position sensing table; (b) a tripod tactile sensing tool, said sensing tool having a plurality of displaceable probe tips, said sensing tool having means for providing an output signal indicative of the value of displacement of each probe tip relative to a fixed position on said sensing tool; (c) each said probe tip having transducer means which uses said position sensing table for sensing when said probe tip contacts said position sensing table; and (d) processing means for determining the relative position of said tactile sensing tool and said position sensing table from position signals provided from said position sensing table and displacement signals provided from said tactile sensing tool.
Claim 7
Dependent Claim
157 words
A tripod tactile sensing system for robot calibration and referencing, comprising: (a) a planar position sensing table, said position sensing table including means for providing an output signal indicative of the position of a transducer contacting said position sensing table relative to a fixed position on said position sensing table; (b) a tripod tactile sensing tool, said sensing tool having a plurality of displaceable probe tips, said sensing tool having means for providing an output signal indicative of the value of displacement of each probe tip relative to a fixed position on said sensing tool; (c) each said probe tip having transducer means which uses said position sensing table for sensing when said probe tip contacts said position sensing table; and (d) processing means for determining the relative position of said tactile sensing tool and said position sensing table from position signals provided from said position sensing table and displacement signals provided from said tactile sensing tool.
Claim 8
Dependent Claim
30 words
A tripod tactile sensing system as recited in claim 5, wherein said processing means includes means for sequentially sensing the position of said probe tips by said position sensing table.
Claim 9
Dependent Claim
25 words
A tripod tactile sensing system as recited in claim 5, wherein said processing means includes means for sequentially sensing the displacement of said probe tips.
Claim 10
Dependent Claim
19 words
A tripod tactile sensing system as recited in claim 5, wherein said processing means comprises a programmed data processor.
Claim 11
Independent Claim
155 words
An apparatus for determining the relative position between moveable objects, comprising: (a) a planar digitizing table, said digitizing table including means for providing an output signal indicative of the position of a transducer contacting said digitizing table relative to fixed coordinates on said position sensing table; (b) a tactile sensing tool having three probes arranged in a triangular configuration, each probe having a displaceable tip, each said probe having means for providing an output signal indicative of the value of displacement of said probe tip relative to fixed coordinates on said sensing tool; (c) each said probe tip having transducer means which uses said position sensing table for sensing when said probe tip contacts the surface of said digitizing table; and (d) processing means for determining the relative position of said tactile sensing tool and said digitizing table from position signals provided from said digitizing table and displacement signals provided from said tactile sensing tool.
Claim 12
Independent Claim
155 words
An apparatus for determining the relative position between moveable objects, comprising: (a) a planar digitizing table, said digitizing table including means for providing an output signal indicative of the position of a transducer contacting said digitizing table relative to fixed coordinates on said position sensing table; (b) a tactile sensing tool having three probes arranged in a triangular configuration, each probe having a displaceable tip, each said probe having means for providing an output signal indicative of the value of displacement of said probe tip relative to fixed coordinates on said sensing tool; (c) each said probe tip having transducer means which uses said position sensing table for sensing when said probe tip contacts the surface of said digitizing table; and (d) processing means for determining the relative position of said tactile sensing tool and said digitizing table from position signals provided from said digitizing table and displacement signals provided from said tactile sensing tool.
Claim 13
Dependent Claim
27 words
An apparatus as recited in claim 9, wherein said processing means includes means for sequentially sensing the position of said probe tips by said position sensing table.
Claim 14
Dependent Claim
22 words
An apparatus as recited in claim 10, wherein said processing means includes means for sequentially sensing the displacement of said probe tips.
Claim 15
Dependent Claim
16 words
An apparatus as recited in claim 11, wherein said processing means comprises a programmed data processor.
References Cited (Backward Citations)
US4215299A
Cited
US4362977A
Cited
US4561776A
Cited
US4575802A
Cited
US4581566A
Cited
US4642781A
Cited
US4662752A
Cited
US4815006A
Cited
US4961267A
Cited
US4887016A
Cited
US4970401A
Cited
US4967370A
Cited
US5334918A
Cited
US5390128A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2001-04-13 | 2001-10-13 | 2002-04-14 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2005-04-13 | 2005-10-13 | 2006-04-14 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2009-04-13 | 2009-10-13 | 2010-04-14 | $7700.00 | Window Closed / Lapsed |