Title:
TEACHING METHOD FOR ROBOT AND ROBOT
Document Type and Number:
WIPO Patent Application WO/2016/178300
Kind Code:
A1
Abstract:
This teaching method for robot includes: a shaking step for shaking a hand around a prescribed revolving axis on an axis perpendicular to an optical axis of a sensor beam such that a target is scanned in a horizontal direction by the sensor beam; a determining step for determining whether the target matches a position along the central axis in the longitudinal direction of the hand on the basis of a detection signal of a mapping sensor (12), which varies due to the shaking of the hand; and a shift step for calculating an offset amount of the hand on the basis of the detection signal of the mapping sensor, which varies due to the shaking of the hand, when the target is determined not to match the position, and for shifting, according to the calculated offset amount, the hand in any one of the left and right directions along the optical axis of the sensor beam.
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Inventors:
NAKAYA ATSUSHI
YAMAGUCHI TAKAO
NAKAHARA HAJIME
CHIN GEORGE
YAMAGUCHI TAKAO
NAKAHARA HAJIME
CHIN GEORGE
Application Number:
PCT/JP2016/001936
Publication Date:
November 10, 2016
Filing Date:
April 06, 2016
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
KAWASAKI ROBOTICS (USA) INC (US)
KAWASAKI ROBOTICS (USA) INC (US)
International Classes:
B25J9/06; B25J15/08
Domestic Patent References:
| WO2003022534A1 | 2003-03-20 |
Foreign References:
| JP2005310858A | 2005-11-04 |
Attorney, Agent or Firm:
PATENT CORPORATE BODY ARCO PATENT OFFICE (JP)
Patent business corporation Owner old patent firm (JP)
Patent business corporation Owner old patent firm (JP)
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