A method determines axial alignment between the centroid of an end effector and the effective center of a specimen held by the end effector. The method is implemented with use of an end effector coupled to a robot arm and having a controllable supination angle. A condition in which two locations of the...http://www.google.de/patents/US20060045719?utm_source=gb-gplus-sharePatent US20060045719 - Method of determining axial alignment of the centroid of an edge gripping end effector and the center of a specimen gripped by it
