Title:
SAG MEASUREMENT SYSTEM FOR MEASURING SAG OF MULTIJOINT ROBOT
Document Type and Number:
Japanese Patent JP2017056503
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide a sag measurement system which is cheap and in which a spring constant can be obtained by operation that is simple for an operator.SOLUTION: A mark 12 to be measured is arranged at a link 11b1 of a multijoint robot 11. At a position apart from the multijoint robot 11, a camera 13 for measuring the position of the mark 12 to be measured is arranged. The control device 14 of the multijoint robot 11 changes the posture of the multijoint robot 11, the positions of the mark 12 to be measured before and after changing the posture are measured by the camera 13 respectively, and the actual sag amount of the link 11b1 is calculated based on a moving amount between the positions of the mark 12 to be measured which is measured before changing the posture and the positions of the mark 12 to be measured which is measured after changing the posture.SELECTED DRAWING: Figure 1
Inventors:
KOKUBO KYOHEI
Application Number:
JP2015181636A
Publication Date:
March 23, 2017
Filing Date:
September 15, 2015
Export Citation:
Assignee:
FANUC LTD
International Classes:
B25J19/02
Domestic Patent References:
| JPH08132373A | 1996-05-28 | |||
| JP2011251365A | 2011-12-15 |
Attorney, Agent or Firm:
Atsushi Aoki
Tetsuro Shimada
Shinji Mitsuhashi
Hirose Shigeki
Tatsuki Sone
Masahiro Tahara
Tetsuro Shimada
Shinji Mitsuhashi
Hirose Shigeki
Tatsuki Sone
Masahiro Tahara
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