Title:
SYSTEM FOR CORRECTING LOCUS OF INDUSTRIAL ROBOT
Document Type and Number:
Japanese Patent JPH01274218
Kind Code:
A
Abstract:
PURPOSE:To easily correct a locus by providing a locus relative coordinate system, and detecting the position of the locus in the system by a sensor. CONSTITUTION:A locus correction system is equipped with a controller 20 to control a robot, a mechanism part 40 for the robot, a working object 50 for the robot, and the sensor 60. The controller 20 is provided with a central processing unit(CPU)21, and memories (22-23), a teaching control panel 24, and a manual data input device 25 with a CRT display device are connected to the CPU by a bus 30. Also, an axis controller 26 is connected to the bus 30, and controls the robot. And the locus relative coordinate system that changes with keeping prescribed relation with the locus is provided along the moving direction of the locus at the tip point of a tool. Also, the locus relative coordinate system setting the present point as an origin and the moving direction of the locus as an X-axis is provided for the locus, and deviation(correction quantity) at the tip part of the tool for a teaching locus is found by the sensor 60 based on the coordinate system. In the robot, and correction quantity is converted, then, a moving locus is corrected.
Inventors:
HARA RYUICHI
Application Number:
JP10239488A
Publication Date:
November 02, 1989
Filing Date:
April 27, 1988
Export Citation:
Assignee:
FANUC LTD
International Classes:
G05D3/12; G05B19/42; G05B19/425; (IPC1-7): G05D3/12
Domestic Patent References:
| JPS62187574A | 1987-08-15 |
Attorney, Agent or Firm:
Matsumoto Takemoto (2 outside)
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