# US 2017/0072567 A1 · Enhanced Robotic Teaching Tool > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2017/0072567 A1 - Document ID: US20170072567A1 - Status: Published application - Kind: A1 - Application number: 14/856,187 - Filed: 2015-09-16 - Published: 2017-03-16 - Earliest claimed: 2015-09-16 - Assignees: The Boeing Company - Applicants: The Boeing Company - Inventors: Camille Doristine Carter; Daniel David Bloch - Web page: https://patentgrep.com/patent/US20170072567A1 ## CPC - B25J 9/1692: {Calibration of manipulator} - G05B 2219/39015: With different manipulator configurations, contact known sphere, ballbar - G05B 2219/39468: Changeable hand, tool, code carrier, detector - G05B 2219/39515: Grapple object, grip in compliant mode, self alignment of fingers and object - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A device for aligning a robotic arm with an end-effector is provided. The device may include a spherical tool and a receiver. The spherical tool may include a spherical end portion and a distal base portion configured to releasably couple to the end-effector. The receiver may include a plurality of arms and a proximal base portion configured to releasably couple to the robotic arm. Furthermore, the arms may be configured to receive the spherical end portion and include one or more indicators configured to track alignment between the robotic arm and the end-effector. ## Claims ### Claim 1 A device for aligning a robotic arm with an end-effector, comprising: a spherical tool having a spherical end portion and a distal base portion configured to releasably couple to the end-effector; and a receiver having a plurality of arms and a proximal base portion configured to releasably couple to the robotic arm; wherein the arms are configured to receive the spherical end portion and include one or more indicators configured to track alignment between the robotic arm and the end-effector. ### Claim 2 (depends on 1) The device of claim 1, wherein the distal base portion includes a plurality of locking pins configured to interface with the end-effector, and the proximal base portion includes a connector configured to receive a plurality of locking pins of the robotic arm. ### Claim 3 (depends on 2) The device of claim 2, wherein the spherical tool further includes a locking cylinder coaxially disposed therethrough, the locking cylinder being axially movable relative to the spherical tool and configured to selectively engage the locking pins of the distal base portion into a locked position. ### Claim 4 (depends on 1) The device of claim 1, wherein the distal base portion is configured to releasably couple to a tool-side connection base of the end-effector, and the proximal base portion is configured to releasably couple to a machine-side connection base of the robotic arm. ### Claim 5 (depends on 1) The device of claim 1, wherein the arms of the receiver include contoured ends configured to mateably receive the spherical end portion of the spherical tool and rotate about a tool center point of the spherical tool. ### Claim 6 (depends on 5) The device of claim 5, wherein the spherical end portion engages the contoured ends of the receiver in coupling the receiver and the robotic arm to the spherical tool and the end-effector. ### Claim 7 (depends on 1) The device of claim 1, wherein the arms and the indicators are configured to indicate center point alignment and arm alignment between the robotic arm and the end-effector. ### Claim 8 (depends on 1) The device of claim 1, wherein the indicators are pivotally displaceable relative to the arms based on interactions with the spherical end portion, the displacement of the indicators corresponding to at least center point alignment between the robotic arm and the end-effector. ### Claim 9 (depends on 8) The device of claim 8, wherein the indicators further include one or more sensing devices configured to detect the displacement and generate one or more outputs indicative of the corresponding alignment and an offset distance associated with the end-effector. ### Claim 10 A system for programming alignment of a robotic assembly, comprising: an end-effector having a tool-side connection base; a robotic arm having a machine-side connection base that is movable relative to the end-effector into one of a plurality of programmable poses; a spherical tool having a spherical end portion and a distal base portion configured to releasably couple to the tool-side connection base; and a receiver having a plurality of arms and a proximal base portion configured to releasably couple to the machine-side connection base; wherein the arms are configured to mateably receive the spherical end portion and include one or more indicators configured to indicate alignment between the robotic arm and the end-effector. ### Claim 11 (depends on 10) The system of claim 10, wherein the distal base portion includes a plurality of locking pins and an alignment pin configured to interface with the end-effector, and the proximal base portion includes a connector configured to receive a plurality of locking pins and an alignment pin of the robotic arm. ### Claim 12 (depends on 11) The system of claim 11, wherein the spherical tool further includes a locking cylinder coaxially disposed therethrough, the locking cylinder being axially movable relative to the spherical tool and configured to selectively engage the locking pins of the distal base portion into a locked position. ### Claim 13 (depends on 11) The system of claim 11, wherein each of the distal base portion and the proximal base portion is provided with one of a pneumatic locking mechanism and a mechanical locking mechanism. ### Claim 14 (depends on 10) The system of claim 10, wherein the arms of the receiver include contoured ends configured to mateably receive the spherical end portion of the spherical tool and rotate about a tool center point of the spherical tool. ### Claim 15 (depends on 10) The system of claim 10, wherein the indicators are displaceable relative to the arms based on interactions with the spherical end portion, the displacement of the indicators corresponding to at least center point alignment between the robotic arm and the end-effector. ### Claim 16 (depends on 15) The system of claim 15, wherein the robotic arm is manually adjustable until the indicators indicate proper alignment between the robotic arm and the end-effector, and the pose of the robotic arm is programmable when the indicators indicate proper alignment. ### Claim 17 (depends on 15) The system of claim 15, wherein the indicators further include one or more sensing devices configured to detect the displacement and generate one or more electrical signals indicative of the corresponding alignment. ### Claim 18 A method of aligning a robotic arm with an end-effector, comprising: providing a spherical tool having a spherical end portion and a distal base portion that is releasably coupled to the end-effector; providing a receiver having a plurality of arms, a plurality of indicators and a proximal base portion that is releasably coupled to the robotic arm; adjusting a pose of the robotic arm relative to the end-effector until the indicators indicate proper alignment; and programming the pose of the robotic arm when the indicators indicate proper alignment. ### Claim 19 (depends on 18) The method of claim 18, wherein proper alignment is indicated based on a linear component and a rotational component, the linear component being aligned when the spherical end portion is sufficiently received within each of the arms, and the rotational component being aligned when the arms are in a desired orientation relative to a tool center point of the spherical end portion. ### Claim 20 (depends on 18) The method of claim 18, wherein the indicators are pivotally displaceable relative to the arms based on interactions with the spherical end portion, the displacement of the indicators corresponding to at least center point alignment between the robotic arm and the end-effector.