Abstract: A multislope, continuously integrating analog-to-digital converter can operate in either a conversion mode or a calibration mode. During the calibration mode, a calibration factor is calculated for use during the conversion mode. When applied to the conversion mode, the calibration factor corrects for errors in the conversion process.

Abstract: A multislope, continuously integrating analog-to-digital converter includes a first switch coupled to a first reference voltage, a second switch coupled to a second reference voltage, a third switch coupled to an input voltage, and an integrator operably coupled to the first, second, and third switches. The analog-to-digital converter utilizes a primary discharge current of opposite polarity to a secondary discharge current. The analog-to-digital converter has a high resolution due to a small reference voltage, and a high dynamic range due to a large reference voltage. The analog-to-digital converter can operate in either a conversion mode or a calibration mode. During the calibration mode, a calibration factor is calculated for use during the conversion mode. When applied to the conversion mode, the calibration factor corrects for errors in the conversion process.

Abstract: Methods of programming mechanical manipulators are disclosed that permit a mechanical manipulator to be programmed to perform coordinated motions between one or more modules comprised of equipment with which the manipulator will interact by defining an origin point and one or more frame points related to each of the modules relative to the origin point. Each of the modules associated with a frame point is then identified and a module program describing pre-programmed manipulator motions related to each of the modules is accessed. Finally, a sequence of motions between the origin and each of the frame points of the modules is defined. The step of locating frame points can be carried out in several different ways, using a teach pendant or by automatically locating the module frame points using an infrared sensor, electric field sensor, acoustic sensor, or force sensor.

Abstract: Methods of calibrating robotic manipulators are disclosed. The present invention uses an inclinometer or a leveling device to provide a reference to calibrate each encoder for each joint of a robotic manipulator. The inclinometer or leveling device is most preferably an electronic protractor or similar device that is placed on a surface of one of the links and the joint is moved until the link is at a preselected angle. In certain embodiments an offset position between the level position and an index position for an absolute encoder is determined and absolute encoder data describing the offset position is recorded. Preferably, the inclinometer is capable of generating a signal that indicates the angle of the surface of the link with respect to the gravity vector. This signal can be used to control the joints and automatically calibrate the manipulator.