A calibration technique in robotic assembly of hybrid circuits

A calibration technique used in a robotic cell for surface mount component (SMC) placement with a SEIKO D-TRAN 2000 industrial robot is described. Two automatic processes are available in the calibration scheme proposed. Online teaching requires calibration of peripheral devices in robot working space. It is realized with a special sensor-based robot gripper for SMC handling. When offline programming of the robot cell is active, a numerical method improves relative robot accuracy over a limited critical working area. Computer-based automatic measurement equipment enables fast acquisition of large amounts of data. An iterative inverse kinematic algorithm for required position definition was constructed.