JPS6065304A - Teaching point correcting method of robot - Google Patents
Teaching point correcting method of robotInfo
- 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
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
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.
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)
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.
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)
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)
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 |
-
1983
- 1983-09-20 JP JP17392383A patent/JPS6065304A/en active Pending
Patent Citations (2)
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)
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 |
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