Methods, Systems, And Apparatus For Calibration Of A Positional Offset Between An End Effector And A Position Sensor

A robot offset calibration system, comprising:

• a robotic component having an end effector and a position sensor coupled thereto;
• a teach target having a first geometrical feature;
• an offset tool adapted to be engaged by the end effector, the offset tool including a first docking feature;
• and
• an offset target having a second docking feature adapted to be engaged by the first docking feature and a second geometrical feature adapted to be sensed by the position sensor.

A calibration assisting apparatus, comprising:

• a base;
• a teach target mounted on the base and having a first geometrical feature adapted to be sensed by a position sensor;
• an offset tool mounted on the base and having a first docking feature;
• and
• an offset target mounted on the base and having a second docking feature adapted to be engaged by the first docking feature of the offset tool and a second geometrical feature adapted to be sensed by a position sensor.

A calibration assisting assembly, comprising:

• a tray;
• and
• a nesting tool coupled to the tray, the nesting tool including
• a base,
• a teach target mounted on the base and having a first geometrical feature adapted to be sensed by a position sensor,
• an offset tool mounted on the base and having a first docking feature, and
• an offset target mounted on the base and having a second docking feature adapted to be engaged by the first docking feature of the offset tool and a second geometrical feature adapted to be sensed by a position sensor.