Teaching data correcting robot

Abstract

Abstract PURPOSE:To enable operation for a work which has rotation in deviation and to improve the operability by correcting the position vectors of a robot coordinate system on the basis of the deviation between a basic coordinate system and a measurement coordinate system, and correcting the attitude of a robot with the output of a main controller. CONSTITUTION:A sensor 11 which outputs a timing signal is provided to the arm 9 of the robot, the measurement coordinate system is found with the timing signal of the sensor, and the position vectors of the robot coordinate system are corrected on the basis of the deviation between the measurement coordinate system and reference coordinate system. Consequently, even when a work is carried in having rotational deviation, the position and attitude of the robot are corrected according to it and high-accuracy working is performed. Further, the attitude of the work 1 at the time of the carrying-in operation is not limited, so a production line is simplified and made efficient, so that the productivity is improved.

Inventors

• 👤 Yasuo Ishiguro
• 👤 石黒　恭生
• 👤 Akisato Katou
• 👤 章里 加藤
• 👤 Yoshito Kato
• 👤 加藤　由人

Bibliographic Details