JPS6065304A - Teaching point correcting method of robot - Google Patents

Teaching point correcting method of robot

Info

Publication number
JPS6065304A
JPS6065304A JP17392383A JP17392383A JPS6065304A JP S6065304 A JPS6065304 A JP S6065304A JP 17392383 A JP17392383 A JP 17392383A JP 17392383 A JP17392383 A JP 17392383A JP S6065304 A JPS6065304 A JP S6065304A
Authority
JP
Japan
Prior art keywords
robot
teaching
probe
holes
measuring device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP17392383A
Other languages
Japanese (ja)
Inventor
Yasuo Tanigawa
康夫 谷川
Masayuki Watanabe
雅之 渡辺
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Motor Corp
Original Assignee
Toyota Motor Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Motor Corp filed Critical Toyota Motor Corp
Priority to JP17392383A priority Critical patent/JPS6065304A/en
Publication of JPS6065304A publication Critical patent/JPS6065304A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE:To attain the teaching point correction of a robot for automatic correction by inserting a probe attached to the robot into a reference hole formed 3-dimensionally to a position measuring device to teach the robot the reference position and comparing this position teaching with the old teaching result. CONSTITUTION:A robot 1 is set on a reference stage 2, and a rack 3 for position measuring device is set on the stage 2 with a relative reference position set to the robot 1. Then a position measuring device 4 is fixed on the rack 3. The device 4 has reference holes 5 at least at four areas in a 3-dimensional position. While a tapered probe 7 is attached to a wrist 6 of the robot 1. The tip of the probe 7 is put into a reference hole 5 of a position (P) (X, Y, Z), and an input is given to the robot 1. The tip of the probe 7 is corrected and converted into a point (P) (X, Y, Z) on the coordinates of the robot 1. This operation is carried out repetitively with all the four holes 5, and the data P1-P4 obtained from four areas of holes 5 are calculated together with an original point P0 and the unit vector. If a coordinate system has an error, the reference holes are corrected again.

Description

【発明の詳細な説明】 （産業上の利用分野） び座標のｉｈ′１正をｒテ２２うロボ゛ットの孜示照１
１ｆｊ正ノｊ法に関するものである。[Detailed Description of the Invention] (Industrial Application Field) Indication of a robot using the ih′1 positive of the coordinates 22 and 1
This relates to the 1fj positive noj method.

（従来技術） ロボットの１表械的な座標系（ロボットがｇｂ作」二実
猷に示す原点およびβ標）と眠気的な座１１（系（制岬
装ｖｉ：が指示する原点および座１県）との相対関係が
狂い、ロボットの再生ｆ！ｈ　１”ＩＥが正しくできな
いことがある。この場合、ｊｌｊ気的な座代°毛系を補
正しなければならないが、その補正方法ｅよ以外に手間
取るものであるっ 従来のｒｆＲ正方法の基本的な手順は、ます位１賢測厘
装置ｉ　ｆ用いてロボットに特定の姿勢をとら仕、この
姿勢を救え込ま亡、さらにある基準点からロボットの泣
ｌＩｔをダイヤルゲージ停の測定６ｊを用いてＩＩＪ　
知してＬ−（。その後、ロボットの礪信都が摩れ、伸び
等のなんらかの原１Ｎで教え込んだ特定の′姿勢Ｖこ対
する位置が保てなくなった時には、再度、ｒｌｉηｄ己
位置測定位置測定装置ロボットの特定の姿勢における基
準点からの酸１崖を測定し、前の測定威との垂忙求めて
、この差をっ・１１ノ正直としてロボットに教え込んだ
すべての教示点ンこおける姿公泣１．′ｔのイツ正を行
なわなければならないう このような方法でξ・ま、教示点の１ｊ正を行なうＩ・
芋にダイヤルゲージ等の測定器を用、皆しｆｃｌ）、す
べての教示点をすし１ヨしなければならないという煩ら
れしさが必るっまた測定器の１ν２み違い。(Prior art) The robot's 1 mechanical coordinate system (the robot is made by gb), the origin and the β mark indicated by Prefecture) may be disrupted and the robot's playback f! The basic procedure of the conventional rfR correct method, which is time-consuming, is to use a square measurement device to force the robot to take a specific posture, save this posture, and then set a certain reference point. From IIJ, measure the robot's tears using dial gauge stop 6j.
After that, when the robot's position is worn out, stretched, etc., and it is no longer able to maintain the position opposite to the specific posture V taught by Measuring deviceMeasure the acid 1 cliff from the reference point in a specific posture of the robot, find the difference with the previous measurement, and calculate this difference as 11-honesty using all the teaching points taught to the robot. In this way, you must correct the 1.'t correction in this way.
If you use a measuring device such as a dial gauge to measure potatoes, you will inevitably feel the hassle of having to check all the teaching points.

イ１１）正すべきｊ浦の取り彦い寺の不具合があった。B11) There was a problem with Torihikoji Temple in Ura that needed to be corrected.

この不具合を解決するための一方法として。As a way to solve this problem.

ダイヤルゲージをポテンショメータ付のものとし、　６
１ｊｌ定１直を自がの計画１ｊで得られるようにして、
このｄ）す定値が自動的に教示点の補正澁となるような
方法も採Ｊ”Ｌるが、このル：ｊ合には、泣ｌＢ、測定
装置ｒｌはさらＱて道く高１１１７なものとなるばかり
でなく、教示点・１ら正時の泣１ｊｉ　、Ｊｌ！Ｉ定装
置・イとロボット制御盤との間に多くの巾！Ｉ　ＩＩｆ
ｉＩ用配腺金必四とき、実用上不向きなものとなる２、 （発明の目的） 本発明はロボットの扱砿的な座標系とロボットの１．ｉ
、気的な座標系との相対関係に狂いが生じた部分に、＃
ｌＪ単なｒｊｎ助具をｊｔ−Ｊいて正１．１へかつ刀１
】、１間にナベでの教示点のり正蛍行なうロボットの教
示点補正方法を提供するものでろく、つ（発明の構成） 本発明の・ＦＨは、先測りの探触子を屑脱０Ｊ′能に備
えたロボットと、少なくとも４ケ所の立１本的に配Ｒｌ
−た基準穴を有する位置ｒｊｌｌＪ　５ｊｌ装置□口：
とＦｌ）相対的な位置を定め、前記探触子を前記基Ｊ６
穴へ挿入することにより基準位１ｉｔを孜ツバし、その
教示結果を入力し、ロボット座標系としてｏＬ　ｉ、ｕ
さｂておさ、教示点の修正が必便になったとき。The dial gauge is equipped with a potentiometer, 6
1jl fixed 1st shift can be obtained by own plan 1j,
A method in which this fixed value automatically becomes the correction value of the teaching point is also adopted, but in this case, the measurement device rl is further Not only is it useful, but there is also a lot of width between the teaching point 1 and the robot control panel.
(Objective of the Invention) The present invention is directed to a robot handling coordinate system and a robot's 1. i
, where the relative relationship with the physical coordinate system is out of order, #
lJ simple rjn aid jt-J to positive 1.1 and sword 1
], This is to provide a method for correcting the teaching point of a robot that moves the teaching point on a pan in one hour. ``Robots ready for performance and Rl in at least 4 locations.
-Position with reference hole rjllJ 5jl device□mouth:
and Fl) determine the relative position and move the probe to the base J6.
Set the reference position 1it by inserting it into the hole, input the teaching result, and set oL i, u as the robot coordinate system.
When it becomes necessary to correct the teaching points.

再度前記探ノ独子を前記るり単穴へ挿入して基準位祷を
教示し、その新教示結果を入力して１日救示結果と比赦
し、差異があればその差異をイｆｌｉ正値として旧ロボ
ット座標系を油Ｗすることであるっ（作　用） あらかじめロボットと相対的な位ｎｔがノ１められた位
置＋ｊｌｌＪ定装置崖の基準穴にロボットの探触子を挿
入することによ、！７救教示業が単純化上れ、その結果
を新旧両データについて比較演４７．すること−・ζよ
ｐｌ、１ノ正て呑るた、’、）＋’１．ｌｌ−・、Ｊ’
　、ｊ４で正；・ピに、１１１正で２三る。Insert the Tanoko into the Ruri single hole again, teach the standard position prayer, input the new teaching result and pardon it with the 1-day salvation result, and if there is a difference, use the difference as the Ifli positive value. The method is to lubricate the old robot coordinate system (effect). By inserting the robot's probe into the reference hole in the predetermined position relative to the robot + jllJ fixed device cliff. ,! 7. Simplify the teaching work and compare the results with old and new data 47. What to do - ζyo pl, 1 no correcte, ',)+'1. ll-・, J'
, j4 is positive; ・Pi, 111 is positive and 23.

（２゛こ　力千ｊ　し＝ｌＪ　） 以下、４”：　尼明ｆｌ　＊　ＩＮ　しＪ　’ｊＥ　：
Ｊ　（Ｃ、Ｊ：　リｆｌ　＃ＪＪｊ　ル。(2゛ko force senj shi=lJ) Hereinafter, 4": 尼明fl * IN しJ 'jE:
J (C, J: Rifl #JJj le.

し’、ｇ　Ｉ　Ｉ’Ｊ　、シＩ；２図で、Ｊζすより（
ζ、ロボット１は２′、すｉＡシ１艮む２（′こ；没１
−ｆ　Ｌ／　）　このロホ゛ットｌと相対基」仏位１□
−ｉを決めて泣１．ｌＬ則定展１」′ｊ栗計３を基準架
台２に、没（尻するつｒｓ’Ｌ・、）１ノ１１１」逆装
・ｌ二Ｃシ１３台３には？立ｔ４ぜＪＩＪ〉ピ良ｊ１４
：　４を２本の広苛ビン８により、立ｉｔ１決めして同
定ター６つ位ｆ（ｆ　；Ｊｉ：Ｊ連装・・’ｆｆ１４は
３次元１．ｉ’ｌな位（αの少なくと・も４ケ所ｐ′ｃ
４　Ｊ４Ｈへ穴５を、１り秩るっこれに対してロボット
ｌには手は６に先２．；ｌりの先４をｊ、テつ７Ｂ説自
圧な探触子７を取〃句け、探７懺子７の先端５膿・ユ穴
５ｖこ挿入さ亡ることがでさるようにする。この場合７
′のようシζ若干ｉ、Ｌ１ｊｉ′１．があっても４ｎｐ
穴５に仲人できれば艮いっこのようにロボットｌにはヱ
ｆ状の探〕強子７をり１ｈえ、ロボット１と泣ｆ近測定
装Ｃ４との相対位置を１足しておき、第３図で示ノーよ
うに、探触子７の先端を位置、ｊｉｌｔ定装置４の基準
穴５へ、その語ｒｌ、’Ｌ　Ｋ　５の１氏へ当づ２にシ
て市まるまで１１５人４−る（ステップ１０）。停止し
たｌ１ｉｉ　＋・Ｓ　ｐ　（ｘ、ｙ、ｚ　）をロボット
１に入力しくステップ１１）、保１１ｊ！子７の先４ａ
にメ」する位ａ　ｑ’ｉｕ　ＪＪＥ　’ａしてからロボ
ット１のＪ３’４　ａ　Ｘ−Ｙ　、Ｚ　上の点Ｐ　（Ｘ
、Ｙ、Ｚ　）　、！：しテｒ＋−’＋票＊換する（ステ
ップ１２）。この操作全立体的に配ｌｄシた基準穴５の
４ケ所全Ｉ′Ｊ、１５について反復する（ステップ１３
にて判定し、４ケ所全部教示し７ていないＪ場合にはス
テップ１ｏへ戻る）っノル増大５の４ケ所から得たデー
タＰ１（Ｘ□、Ｙｌ、Ｚ工）−Ｐ２（Ｘ２．Ｙ２１Ｚ２
　）　、Ｐ３　（Ｘ３１Ｙ３．Ｚ３　）　、　Ｐ４（Ｘ
４．Ｙ４．Ｚ４　）より原点Ｐ。（Ｘｏ、Ｙｏ、Ｚｏ）
および単位ベクトルＸ。shi', g I I'J, shi I; In Figure 2, Jζsu (
ζ, robot 1 is 2', SuiAshi1 is 2 ('ko; 1 is
-f L/) This lohot l and the relative base” Buddha position 1□
-I decided and cried 1. LL standard exhibition 1"'j chestnut meter 3 to reference pedestal 2, 1 no 111" reverse mounting, 12 C 13 to 3? Stand t4ze JIJ〉Pira j14
: 4 is determined by two wide-strength bottles 8, and 6 identified tars f(f;Ji:J are connected...'ff14 is 3-dimensional 1. Also 4 places p'c
4 Hole 5 to J4H, 1st hand to Chichiru, robot 1's hand to 6th, 2nd. Take the tip of the tip 4 of the probe 7, and insert the tip 5 of the probe 7 into the hole 5, so that it will not die. do. In this case 7
' as ζ slightly i, L1ji'1. Even if there is 4np
If there is a matchmaker in the hole 5, then the robot 1 will have a shape of 〈f〉 as shown in Figure 3. As shown in Figure 1, position the tip of the probe 7 into the reference hole 5 of the jilting device 4, and press the word rl, 'L K 5 until it reaches 2. (Step 10). Input the stopped l1ii +・S p (x, y, z) to robot 1. Step 11), hold 11j! Child 7 ahead 4a
a q'iu JJE 'a, then robot 1's J3'4 a X-Y, point P (X
,Y,Z ) ,! : The number of votes is converted to r+-'+vote* (step 12). This operation is repeated for all four locations I'J, 15 of the reference holes 5 arranged three-dimensionally (step 13).
If all four locations are not taught, return to step 1o) Data obtained from the four locations of Nor increase 5 P1 (X□, Yl, Z) - P2 (X2.Y21Z2)
), P3 (X31Y3.Z3), P4(X
4. Y4. Z4) from the origin P. (Xo, Yo, Zo)
and the unit vector X.

Ｙ、Ｚを算出する（ステップ１４）つ以上のような初期
教示の後、ロボット１の定・＋’？Ｓ　：１）ｆｉ　’
ｉｊｉを行なうウロボット１の１）械的な座標系と屯気
的なＪ３ｈ標系との相対関係がＪ１゛谷限度以上の狂い
を生じた場合、第４図で示すように、初期教示と同様の
方法により、位置測定装置誼４の基準穴５にロボット１
Ｉ７）探触子７を挿入して、再度基準穴５の位置を教え
込ま亡る（ステップ１５からステップ１９粂でノ。位１
．ｉ副足裟１１．’！：　４の４つの基準穴５全ｌ′≦
ｌＳｆ奴え込ま亡、保ノ独子７の先端に対する泣Ｕ浦正
をしン辷１麦、デ〜りＰ’、　（Ｘｉ、Ｙｉ、Ｚｑ　）
　、　Ｐ’、、　（Ｘ’、。Calculate Y and Z (Step 14) After more than one initial teaching, the robot 1's constant +'? S:1)fi'
1) If the relative relationship between the mechanical coordinate system and the general J3h reference system of Urobot 1 performing iji deviates by more than the J1 trough limit, as shown in Figure 4, the initial teaching and Using the same method, the robot 1 is inserted into the reference hole 5 of the position measuring device 4.
I7) Insert the probe 7 and teach the position of the reference hole 5 again (from step 15 to step 19).
．． i Secondary foot 11. '! : 4 reference holes 5 all l'≦
1Sf's death, crying for the tip of Yasuno Ikko 7.
, P',, (X',.

Ｙ’、Ｚ’　）　、　Ｐ６　（Ｘ’、Ｙ＆、Ｚ’　）　
、　ｌ）／、　（Ｘ／、Ｙ、、、Ｚ／　）　ｊを４串す
る（ステップ２０）。初期教示におけるデータＰｏ　（
Ｘｏ　、Ｙａ＊Ｚｏ　）とＸ、Ｙ、Ｚをイｂ正モードに
より教示されたデータ］：’６　（Ｘｉ）　、　Ｙ６　
、　Ｚ６　）とＸ′。Y', Z'), P6 (X', Y&, Z')
, l)/, (X/, Y, , Z/) j is skewered into four pieces (step 20). Data Po (
Xo, Ya*Zo) and X, Y, Z are the data taught by Ib positive mode]: '6 (Xi), Y6
, Z6) and X'.

ベクトルの回ｊ云角α、β、ｒを計算する（ステップ２
１　）　。原点Ｏおよびｑ　獣軸Ｘ　、　Ｙ　、　Ｚを
△Ｐｏだけ平行移動し、Ｘ　４：’４１を−αグこヴ、
Ｙ４１１．ｌｌを−β７ピ′け、Ｚ綿を一γだけ回転ざ
亡て補止し、１１１１正した新昌似０’、　Ｘ’、　Ｙ
’、　Ｚ’をロボット１のｄｊシい座標（Ｃする（ステ
ップ２２）９この祈座傑０’、　Ｘ’、　Ｙ’。Calculate the rotation angles α, β, and r of the vector (Step 2
1). Translate the origin O and q animal axes X, Y, Z by △Po,
Y411. Shinsho-like 0', X', Y which corrected 1111 by setting ll by -β7 pins and correcting Z cotton by one gamma rotation.
', Z' to robot 1's dj coordinates (C (step 22)) 9.

Ｚ′を用い、記心しているすべての教示点を補」ｆする
（ステップ２３）っ以上のような％座標およびｆｌｉ泣
ベクトルのしＪ係を第５図に示すっこのよう（ｌこ上６
己ｊこｔ・色間では、ロホ゛ットがチェーンの１′中び
、スプロケットのｈ釜耗ζ分の１）λ砿的要１Ｊ（・こ
ニジ、当ｊ：Ｌ敗示した点とＩＩＪ±しグこ点（ご狂い
、が生じた場合、７３虱的な座標７“６を１１１７１１
ｆ　すること【より浦早にすべての教示点を＋ｉｌｉ止
でさ、イブ生した点の狂い全１３正できる。また、この
方法の応用しυとして、あるロボットで救示し／とデー
タを用いて曲のロボットで１Ｊ）′／ＪＥ、丈る一゛褐
計７両ロボット間の据付１県差１寸法誤差をイ区ｉＥで
きる。。Correct all the recorded teaching points using Z' (step 23).
At Iroki, the chain was 1' in the middle, and the sprocket was worn out by 1/1). If there is a problem, change the coordinates 7"6 to 111711
f To do this, [by checking all the teaching points as soon as possible, all 13 points can be corrected. In addition, as an application of this method υ, using the data ``Rescue with a certain robot'', we calculated a dimensional error of 1J)'/JE, a difference of 1 prefecture in installation between 7 robots with a length of 1゛. I can do it. .

（発１男の効果） 以上のように本発明は、ロボットに取り付けた深５ｊ虫
子を、Ｉｎ　ｊ’ｌ測定Δき１陀に立体的に配ｔｊ：ｉ
　（、之基増大へ挿入することによって、基・いＩＱ　
「：ｖの教示を行な９ことができるので教示１・′「梁
Ｉ−Ｊ：＋；’ｉｌ単であり、短時間に行なうことがで
きろう教示結果の人力後は、旧教示結果との比較演↓ン
、によりイ１〉正すべき点は自動的にイＦｋ正できるた
め、「ロボットの教示点のｎ＋ｉ　ｆが容易になる。(Effect of 1st child) As described above, the present invention is capable of three-dimensionally distributing the depth 5j insects attached to the robot to the 1st position of Inj'l measurement Δ.
(By inserting this into the base increase, the base IQ
9 can be done by teaching ``:v'', so teaching 1・' ``Beam I-J:+;'il is simple and can be done in a short time.The teaching result after manual labor is the same as the old teaching result. According to the comparison operation ↓, the point to be corrected can be automatically corrected by A1), so it becomes easy to calculate n+i f of the robot's teaching point.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は木兄１ヅ］による実施列を説明するだめの斜視
図、 嬉２図は本発明による位１痘υＩＩＩ定装政の祷所面し
召　・ 第３　ｉ：Ｊ　ｔｔ：Ｊ、　／ド元明に」二る初期教示
モードのフローチャート。 ＬｔＴ　４図は／ド発明による１ωｉＥモードのフロー
チャート、 第５凶は教示ノ爪に対する座わ；Ｚと単位ベクトルを示
す位、逝関係図でりる。。 ｌ　・・・　ロボット　２　・・・基準朶台３　・・・
位ｍｌ測定装ｍＸ、架台 ４　・・・　泣＋Ｉｆｆｆａｉｌ）定長ｔｔ　５　・・
・　基準穴６　・・・　十　首−７・・・　探ノ」虫干
８　・・・　欣会ビン Ｐｏ　・・・　初期教示の原ｚｔＫ　Ｐ６・・・　・ｂ
正教示の原点Ｘ’、　Ｙ’、　Ｚ’・・・修正教示の単
位ベクトルα、β、γ・・・谷ｊ−β泣ベクトルの回転
角Ｏ・・・初期のロボット座標の原点 ０′・・・　１１５正後のロボット座標の原点ｘ、ｙ、
ｚ座標・・・　初期のロボット座標）ｃ／、　Ｙ／、　
Ｚ／β標・・・（６正後のロボット座標牙１　図 第２図 牙３図 第４図 牙５図Figure 1 shows the unnecessary view of the implementation by a wooden brother 1］］ ヅ 嬉 嬉 嬉 嬉 嬉 嬉 嬉 嬉 嬉 嬉 嬉 嬉 嬉 ２ ２ ２ ２ ２ ２. Flowchart of the initial teaching mode of "Do Genmei ni". LtT Figure 4 is a flowchart of the 1ωiE mode invented by /D. The fifth problem is the seat for the teaching claw; the position showing Z and the unit vector is a relationship diagram. . l...Robot 2...Reference stand 3...
position ml measuring device mX, mount 4... +Iffail) Fixed length tt 5...
・ Reference hole 6 ... 10 neck-7 ... Exploration' Mushiboshi 8 ... Kikai Bin Po ... Origin of initial teaching ztK P6 ... ・b
Origin of correct teaching X', Y', Z'... Unit vectors α, β, γ of corrected teaching... Rotation angle of valley j-β vector O... Origin of initial robot coordinates 0'.・・Origin of robot coordinates after 115 x, y,
Z coordinate... initial robot coordinate) c/, Y/,
Z/β mark... (Robot coordinates after 6) Fang 1 Fig. 2 Fig. 3 Fig. 4 Fig. 5 Fang

Claims (1)

【特許請求の範囲】[Claims] （１）先１ｉ４＋１りの緑触子金眉説可能に・―えたロ
ボットと、少なくとも４ケ所の立体的に配Ｇｔした基準
尺をイーｊする位ｒ’ｉ　Ｇ１１ｌ定褒置との相対的な
位置を規定し、ｌｊＪ記探触子を１ｊｆＪ記基準穴へ挿
入することによシ、Ｌ泣ｄを教°示し、その教示結果を
人力して記１．はさ止てふ・き、教示点のイω正が必要
に／ｌ一つプヒとき、再度前１、定深触子を前記基準尺
へづ１１人して基準位−１ｄを教示し、その新該示ｈ１
占果を人力して旧教示結果と比戟し、差異が、ろればそ
の蓋ミ（を１゛１ｄ正値としてロボット座標系を補正す
ることを特徴とする口Ｈζノット数示点１＋ｈ正号法。(1) Relative relationship between a robot that has a green tentacle of 1i4+1 and a fixed reward of at least four three-dimensionally arranged standard standards. By specifying the position and inserting the probe 1jJ into the reference hole 1jfJ, teach L and d, and manually input the teaching result to 1. When the teaching point needs to be correct, 11 people move the fixed-depth feeler to the standard scale again and teach the standard position -1d. The new indication h1
The fortune telling is manually compared with the old teaching result, and if there is a difference, the robot coordinate system is corrected by setting the difference as 1゛1d positive value. Code number.
JP17392383A 1983-09-20 1983-09-20 Teaching point correcting method of robot Pending JPS6065304A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP17392383A JPS6065304A (en) 1983-09-20 1983-09-20 Teaching point correcting method of robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP17392383A JPS6065304A (en) 1983-09-20 1983-09-20 Teaching point correcting method of robot

Publications (1)

Publication Number Publication Date
JPS6065304A true JPS6065304A (en) 1985-04-15

Family

ID=15969576

Family Applications (1)

Application Number Title Priority Date Filing Date
JP17392383A Pending JPS6065304A (en) 1983-09-20 1983-09-20 Teaching point correcting method of robot

Country Status (1)

Country Link
JP (1) JPS6065304A (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61253507A (en) * 1985-05-02 1986-11-11 Nippon Gakki Seizo Kk Method and device for position teaching of industrial robot or the like
JPS6263303A (en) * 1985-09-13 1987-03-20 Oki Electric Ind Co Ltd Position correcting method for mechanical origin of articulated robot
JPS635406A (en) * 1986-06-26 1988-01-11 Honda Motor Co Ltd Method and device for correcting position of robot
JPS63318275A (en) * 1987-06-19 1988-12-27 富士通株式会社 Operation coordinate correction system of robot
JP2010099745A (en) * 2008-10-21 2010-05-06 Ihi Corp Robot device and robot device teaching method
JP2010284750A (en) * 2009-06-11 2010-12-24 Ihi Corp Calibration tool, workpiece installation stand, and calibration method

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57182205A (en) * 1981-03-26 1982-11-10 Yaskawa Electric Mfg Co Ltd Controlling system of robot's locus
JPS5841765A (en) * 1981-09-03 1983-03-11 東芝セラミツクス株式会社 Sealing oxide

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57182205A (en) * 1981-03-26 1982-11-10 Yaskawa Electric Mfg Co Ltd Controlling system of robot's locus
JPS5841765A (en) * 1981-09-03 1983-03-11 東芝セラミツクス株式会社 Sealing oxide

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61253507A (en) * 1985-05-02 1986-11-11 Nippon Gakki Seizo Kk Method and device for position teaching of industrial robot or the like
JPS6263303A (en) * 1985-09-13 1987-03-20 Oki Electric Ind Co Ltd Position correcting method for mechanical origin of articulated robot
JPS635406A (en) * 1986-06-26 1988-01-11 Honda Motor Co Ltd Method and device for correcting position of robot
JPS63318275A (en) * 1987-06-19 1988-12-27 富士通株式会社 Operation coordinate correction system of robot
JP2010099745A (en) * 2008-10-21 2010-05-06 Ihi Corp Robot device and robot device teaching method
JP2010284750A (en) * 2009-06-11 2010-12-24 Ihi Corp Calibration tool, workpiece installation stand, and calibration method

Similar Documents

Publication Publication Date Title
JPH02124417A (en) Method and apparatus for determining and correcting position error
EP0317967A3 (en) Rotation-deflection arrangement for the feeler heads of coordinate-measuring devices
DE3688792D1 (en) DEVICE FOR EVALUATING AND CORRECTING BREAKING ERRORS OF THE EYE.
JPS6065304A (en) Teaching point correcting method of robot
EP0616566A1 (en) Method and device for calibration of movement axes of an industrial robot.
KR870700465A (en) Standard positioning device of industrial robot
JPS6097207A (en) Method and device for leading out position and/or size of specimen to be inspected
US3670573A (en) Apparatus for measuring thumb and finger force
JPS6020878A (en) Reference positioning device for industrial robot
US5191639A (en) Mirror image method for use in a robot
JPS62218808A (en) Accuracy correction for 3-d measuring robot
JPS6483103A (en) Method for correcting position coordinates of workpiece
JP2000161903A (en) Measurement system for structure
JP2500107Y2 (en) Measuring jig
JP2741518B2 (en) Work size inspection method
Davison et al. Generalized regression for CMMs
JPS6370305A (en) Correcting device for robot coordinate system
JP2988204B2 (en) Spline fitting error measurement method
KR100225883B1 (en) Method and measuring jig for tuning tcp of laser vision sensor mounted in articulated robot
JPS62289710A (en) Measuring method for two-dimensional freely curved surface
JPH0373285A (en) Calibration of wrist axis of robot
Hardt A computer program for calculating blood acid-base parameters on an Olivetti" Programma 101" desk computer
JPS6249513A (en) Automatic control method for robot machine constant
JPH0749298A (en) Micro indentation testing machine
SU1683683A1 (en) Method for correcting operator errors