Abstract: A symmetry calibration method for calibrating multi-configuration robots is disclosed. Specific points in the robot envelope are selected and the robot is moved to each point twice using different configurations. A linear measurement is made from an arbitrary fixed surface to a selected point on the robot at each envelope point. The origin for an axis is determined when the measurements for both configurations at the envelope point are substantially equal.

Abstract: An optical encoder interface and method provides encoder position information and performs error checking on each revolution of the encoder. Error checking is achieved by ascertaining that the correct number of encoder counts are obtained for every revolution of the encoder.

Abstract: A system for sensing, processing and analyzing images includes a camera assembly for sensing a workpiece image and generating video signals representing the sensed images. The video signals are fed through a multiplexer to a vision processor and a display. The video signals are preprocessed and stored in the vision processor which has a shared memory. A computer controller, which has access to the shared memory via a common bus, controls operation of the vision processor in response to command signals from peripheral devices. The controller generates data signals for presenting the sensed images on a display and controlling external devices in response to the visual characteristics of the workpiece.

Abstract: An arc welding system with image acquisition utilizing a non-planar beam of electro-magnetic radiation, such as, a hollow conical beam of light, to illuminate at least a portion of the welding object is disclosed. The conical beam of light is generated by impinging a light beam on the surface of a concave, cylindrical reflector having a longitudinal axis that preferably is parallel to the longitudinal axis of the welding torch. The light beam enters the concave cylindrical reflector through the hollow shaft of a motor. Rotation of the motor angularly positions the reflected light beam on the welding object. The illuminated portion of the object is imaged on an array of photosensitive elements to produce corresponding signals that are representative of the image on the array. These signals are used to obtain identification information concerning the welding object and guidance information for a plural axis manipulator that guides the welding torch tool along a welding seam.

Abstract: A method and apparatus for image acquisition utilizing a non-planar beam of electro-magnetic radiation, such as, a hollow conical beam of light, to illuminate at least a portion of an object. The conical beam of light is generated by impinging a light beam on the surface of a concave, cylindrical reflector. The light beam enters the concave cylindrical reflector through the hollow shaft of a motor. The illuminated portion of the object is imaged on an array of photosensitive elements to produce corresponding signals that are representative of the image on the array. These signals can be used to obtain identification information concerning the object and guidance information for a plural axis manipulator employed in conjunction with the object. In one application the image acquisition apparatus is used in a robot to provide control signals for guiding the robot tool along a path, such as, a welding seam.

Abstract: A method and apparatus for image acquisition utilizing a non-planar beam of electro-magnetic radiation, such as, a hollow conical beam of light, to illuminate at least a portion of an object. The conical beam of light is generated by impinging a light beam on the surface of a concave, cylindrical reflector. The illuminated portion of the object is imaged on an array of photosensitive elements to produce corresponding signals that are representative of the image on the array. These signals can be used to obtain identification information concerning the object and guidance information for a plural axis manipulator employed in conjunction with the object. In one application the image acquisition apparatus is used in a robot to provide control signals for guiding the robot tool along a path, such as, a welding seam.