Title:
ZERO-POINT CALIBRATING METHOD FOR THREE-DIRECTIONAL FORCE DETECTOR
Document Type and Number:
Japanese Patent JPS633235
Kind Code:
A
Abstract:
PURPOSE:To derive the calibration value of a three-directional force detector regardless of the attitude of a tool by rotating the tip shaft at some attitude of, for example, an industrial robot fixed to the three-directional force detector. CONSTITUTION:The three-directional force detector 2 is mounted on the industrial robot by fixing it to the wrist part 1 of the robot and also fixing the tool 3 to the detector 2. When the wrist part 1 is at some attitude, the tip shaft is rotated to store respective data of the detector 2 at least three points, and respective shaft calibration values are computed in a robot controller, etc., based on the detected values. Here, the fitting directions of the wrist tip shaft and detector 2 are fixed, so the Z components of the detected values are equal at each point. The Z components are erased from the respective shaft detected values at >=3 points and calibration values of X and Y are obtained by approximation, so that a calibration value of Z is derived from them.
Inventors:
MINAMI YOSHIKATSU
KUREBAYASHI SHIGEYUKI
KUREBAYASHI SHIGEYUKI
Application Number:
JP14672686A
Publication Date:
January 08, 1988
Filing Date:
June 23, 1986
Export Citation:
Assignee:
YASKAWA DENKI SEISAKUSHO KK
International Classes:
B25J19/02; G01L25/00; (IPC1-7): B25J19/02; G01L25/00
Attorney, Agent or Firm:
Kazuo Sato
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