Title:
METHOD AND DEVICE FOR AUTOMATICALLY ADJUSTING WORKING POSITION OF ROBOT
Document Type and Number:
WIPO Patent Application WO/1983/004323
Kind Code:
A1
Abstract:
A method and a device for automatically adjusting the working position of a robot automatically corrects for discrepancies in the position of each workpiece according to signals from a position detector provided at the working end of the robot. The working end of the robot is positioned by a servo system which consists of a pulse distributor (20), a deviation counter (21), a drive unit (22), and a speed detector (23) on the basis of target position data from a memory (19) and present position data from a present position register (25). After the positioning, discrepancies in the position of the working end of the robot with respect to the workpiece are detected by a detector (26), and a selective reader (30) is operated by a discriminator (27) and a controller (29). The reader (30) outputs correction data RST1- RST12 corresponding to the discrepancies the positions to a movement data calculator (17), this is used to correct the discrepancies in the positions.
Inventors:
SEKINE YOSHITADA (JP)
YOKOTA FUMIKI (JP)
YOKOTA FUMIKI (JP)
Application Number:
PCT/JP1983/000165
Publication Date:
December 08, 1983
Filing Date:
May 27, 1983
Export Citation:
Assignee:
NISSAN MOTOR (JP)
International Classes:
B25J9/18; G05B19/23; (IPC1-7): G05B19/18; B25J13/00; B25J19/00; G05B19/42
Foreign References:
| JPH0527266A | 1993-02-05 | |||
| JPH05183985A | 1993-07-23 | |||
| JPS524178A | 1977-01-13 |
Other References:
See also references of EP 0109447A4
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