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US 5,303,034 AGranted
Robotics targeting system
AssigneeStorage Technology Corporation
InventorsLarry K. Carmichael, Frank A. Goodknight, Michael E. Moy, Robert W. Schmidt
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AssigneeStorage Technology Corporation
InventorsLarry K. Carmichael, Frank A. Goodknight, Michael E. Moy, Robert W. Schmidt
Estimating the term…
A robotic arm calibration system is described which comprises a video line scan camera vision system used in conjunction with a plurality of novel "N"-shaped targets in an automated tape storage library. The targeting system of the present invention provides, with a single horizontal video scan of the target, all of the data necessary to enable calculation of a reference point of the robotic arm with respect to each target to thereby obtain precise robotic arm calibration in relationship to the library system workspace. The position of the robotic arm is determined using the vision system in conjunction with calibration targets which are located within the tape cartridge library, in addition to a target located on the robotic arm. The present system functions independently of the spacing between the arm retrieval mechanism and the tape cartridge storage cells.
In a storage system for storing a plurality of objects in an array of object storage locations and having a robotic arm with a line scan camera attached thereto, a method for calibrating a position of said robotic arm with respect to a given one of said objects stored in said system to enable said robotic arm to retrieve said given one of said objects, said method comprising the steps of:
In a storage system for storing a plurality of objects in an array of object storage locations and having a robotic arm with a line scan camera attached thereto, apparatus for calibrating a position of said robotic arm with respect to a given one of said objects stored in said system to enable said robotic arm to retrieve said given one of said objects, said apparatus comprising:
In a storage system for storing a plurality of objects in an array of object storage locations having affixed in a predetermined position thereon an"N"-shaped target having a first stripe, a second stripe parallel to said first stripe, and a middle stripe positioned diagonally between said first stripe and said second stripe, said first, middle and second stripes being aligned in a horizontal direction, said system having a robotic arm with a line scan camera attached thereto, a method for calibrating a position of said robotic arm with respect to a given one of said objects stored in said system to enable said robotic arm to retrieve said given one of said objects, said method comprising the steps of:
In a storage system for storing a plurality of objects in an array of object storage locations having affixed in a predetermined position thereon an"N"-shaped target having a first stripe, a second stripe parallel to said first stripe, and a middle stripe positioned diagonally between said first stripe and said second stripe, said first, middle and second stripes being aligned in a horizontal direction, said system having a robotic arm with a line scan camera attached thereto, apparatus for calibrating a position of said robotic arm with respect to a given one of said objects stored in said system to enable said robotic arm to retrieve said given one of said objects, said apparatus comprising:
Dependencies are inferred from the claim text.