Title:
METHOD OF CORRECTING POSITION OF FORWARD END OF TOOL
Document Type and Number:
WIPO Patent Application WO/1993/007998
Kind Code:
A1
Abstract:
A method of correcting the position of the forward end of a tool, wherein a tool such as a welding gun and a grinder is rendered light in weight and control of a robot work program is facilitated. Data showing the relationship between working hour of a robot and a variable amount of the forward end point of the tool is previously stored in a memory, an integrated working hour t is read when the forward end point of the tool is moved to a moving target point (S4), and the position of the varied forward end point of the tool is determined on the basis of the data in the memory (S5). The moving target of the forward end point of the tool is corrected on the basis of the varied amount (S6), and the forward end point of the tool is moved to the moving target point (S7). Owing to this, the position of the forward end point of the tool is corrected in accordance with the varied amount, so that accurate working can be performed on the moving target point on a work, thus eliminating the necessity for a spring mechanism which has heretofore been required. Furthermore, the robot work programs which have heretofore been separately provided can be integrated together.
Inventors:
KARAKAMA TATSUO (JP)
Application Number:
PCT/JP1992/001328
Publication Date:
April 29, 1993
Filing Date:
October 12, 1992
Export Citation:
Assignee:
FANUC LTD (JP)
International Classes:
B25J9/18; G05B19/18; B25J9/10; G05B19/404; (IPC1-7): B25J9/10; B25J13/08
Foreign References:
| JPH01132343U | 1989-09-08 | |||
| JPS59201740A | 1984-11-15 | |||
| JPS6020893A | 1985-02-02 |
Other References:
See also references of EP 0565737A4
Download PDF: