Method and apparatus for calibrating a first co-ordinate frame of an indexing means in a second frame of reference of a sensing means

An apparatus for calibrating a first co-ordinate frame of an indexing means in a second frame of reference of a sensing means when the sensing means is substantially rigidly attached to the indexing means, including

• sensing means,
• indexing means for moving the sensing means when the sensing means is substantially rigidly attached thereto,
• a plurality of first light sources, which first light sources include active light sources or illuminable reflecting points and are locatable at a fixed position in space,
• a processor in operative association with the indexing means,
• transformation means in operative association with the processor,
• transmitting means for transmitting signals indicative of a first and a second position of each of the plurality of first light sources relative to the sensing means from the sensing means to the processor, which first and second positions of each of the plurality of first light sources relative to the sensing means correspond to an absolute first position and a desired, absolute second position of the indexing means respectively, such that when the indexing means moves from the absolute first position to the desired absolute second position, the first and second positions of each of the plurality of first light sources relative to the sensing means transmitted to the processor are combined by the transformation means for calibrating the first co-ordinate frame in the second frame of reference.

A method for calibrating a first co-ordinate frame of a robot and an end effector in a second frame of reference of a sensor when the sensor is substantially rigidly attached to the robot and end effector, including the steps of:

• measuring first positions of a plurality of first light sources relative to the sensor, each of which first light sources is remote from the sensor and is either an active light source or an illuminable reflecting point, with the first positions corresponding to a first absolute position of the robot and end effector;
• moving the robot and end effector;
• measuring second positions of the plurality of first light sources relative to the sensor, which second positions correspond to the desired second absolute position of the robot and end effector;
• repeating the measurement of and movement from the first to second positions providing at least two sets of measurements of first and second positions corresponding to at least two movements, each of which at least two movements is a known, unique transform;
• and
• combining the at least two sets of measurements of first and second positions of the plurality of first light sources relative to the sensor by a transformer calibrating the first co-ordinate frame in the second frame of reference.

An apparatus for calibrating a first co-ordinate frame of a robot and end effector in a second frame of reference of a sensor when the sensor is substantially rigidly attached to the robot and end effector, including

• a sensor,
• a robot and end effector for moving the sensor when the sensor is substantially rigidly attached thereto,
• a plurality of first light sources, which first light sources include active light sources or illumninable reflecting points and are locatable at a fixed position in space,
• a processor in operative association with the robot and end effector,
• transformer in operative association with the processor,
• transmitter for transmitting signals indicative of a first and a second position of each of the plurality of first light sources relative to the sensor from the sensor to the processor, which first and second positions of each of the plurality of first light sources relative to the sensor correspond to an absolute first position and a desired, absolute second position of the robot and end effector, respectively, such that when the robot and end effector moves from the absolute first position to the desired absolute second position, the first and second positions of each of the plurality of first light sources relative to the sensor transmitted to the processor are combined by the transformer calibrating the first co-ordinate frame in the second frame of reference.