Title:
METHOD AND DEVICE FOR CORRECTION OF ROBOT POSITION
Document Type and Number:
Japanese Patent JPS63133208
Kind Code:
A
Abstract:
PURPOSE:To keep a constant copying advance speed and to attain an accurate working job by using an orthogonal projection applied onto the normal surface of a teaching line of a position correcting vector to calculate a command position when the position of an end effector for a teaching reproduction type robot is corrected. CONSTITUTION:A robot contains a working subject 1, a target route 2 shown by a point 2A on the surface of the subject 1, a robot 3, an arm 4 an end effector 5 consisting of a welding torch, a gripper, etc., set at the tip of the arm 4, a target position detector 6 set at the tip of the arm 4, a driving part 7 for robot 3, and a control device 8 consisting of 1st and 2nd arithmetic units 9 and 10. In such a constitution, an effector deviation vector is obtained by the unit 9 between the command position of the effector 5 and a route 2 detected by the detector 6. Then a component of deviation vector is obtained on a vertical plane. The next effective command position of the robot 3 is produced based on the vector obtained by the unit 10. Then the part 7 is actuated by said effective command position.
Inventors:
TOMITA MASAMICHI
HIRAI AKIRA
MIYAKE NORIHISA
HIRAI AKIRA
MIYAKE NORIHISA
Application Number:
JP27957986A
Publication Date:
June 06, 1988
Filing Date:
November 26, 1986
Export Citation:
Assignee:
HITACHI LTD
International Classes:
G05B19/18; B25J9/10; G05B19/404; (IPC1-7): B25J9/10; G05B19/18
Attorney, Agent or Firm:
Katsuo Ogawa