APPARATUS AND METHOD FOR CORRECTING A TRAVELLING ROUTE FOR A ROBOT

Title:

APPARATUS AND METHOD FOR CORRECTING A TRAVELLING ROUTE FOR A ROBOT

Document Type and Number:

WIPO Patent Application WO/1997/009154

Kind Code:

A1

Abstract:

Apparatus and method for correcting a travelling route for a robot, the method comprising the steps of setting a tool (2) mounted on a leading end of a wrist of a robot (1) at a preset photographing position P1, photographing the front and side of the tool (2) by cameras (41, 42) to thereby obtain three-dimensional configuration data of the tool (2), comparing the three-dimensional configuration data so obtained with standard configuration data to thereby detect a deformed amount of the tool (2), and modifying a travelling route for a robot instructed by a program based on the deformed amount.

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Inventors:

ARIMATSU TARO (JP)
AKIYAMA KAZUHIKO (JP)

Application Number:

PCT/JP1996/002548

Publication Date:

March 13, 1997

Filing Date:

September 06, 1996

Export Citation:

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Assignee:

FANUC LTD (JP)
ARIMATSU TARO (JP)
AKIYAMA KAZUHIKO (JP)

International Classes:

B25J9/10; B25J9/18; B25J13/08; G05B19/18; G05B19/404; G05B19/408; G05B19/42; (IPC1-7): B25J9/10

Foreign References:

JPH06143166A	1994-05-24
JPH05108123A	1993-04-30
JPS61173878A	1986-08-05
JPS59180605A	1984-10-13
JPH0784631A	1995-03-31
JPH0755427A	1995-03-03

Other References: