Title:
ROBOT TEACHING METHOD
Document Type and Number:
Japanese Patent JPS60262215
Kind Code:
A
Abstract:
PURPOSE:To obtain easily the relative relations among a visual coordinate system, a robot coordinate system and the robot hand position, by using a visual device combined with a robot as a measurement device. CONSTITUTION:A handling reference point P of a hand 10 is set at a handling reference point H of a work 11. Then a robot is actuated to shift a visual device 7 by DELTAXR1 and DELTAYR1 in a robot coordinate system so that the work 11 is put within the viewfield of the device 7. Thus the centroid coordinates of the work 11 is recognized in a visual coordinate system. Then the device 7 is shifted by DELTAXR2 and DELTAYR2 within a range where the work 11 is put into the viewfield of the device 7 in the robot coordinate system. Thus the centroid coordinates of the work 11 is recognized again. In such a way, the teaching data (relative relation of coordinate systems) is obtained from a robot shift amount and the centroid coordinates recognized by the device 7.
Inventors:
NAKAMURA HIROO
OOKAWA SHIYUUJI
OOTSUKA YASUO
TACHIKAWA HAJIME
SHINOZAKI TOSHIYA
OOKAWA SHIYUUJI
OOTSUKA YASUO
TACHIKAWA HAJIME
SHINOZAKI TOSHIYA
Application Number:
JP11639384A
Publication Date:
December 25, 1985
Filing Date:
June 08, 1984
Export Citation:
Assignee:
HITACHI LTD
International Classes:
B25J9/22; B25J13/08; B25J19/04; G05B19/42; (IPC1-7): B25J9/22; B25J13/08; B25J19/04; G05B19/42
Attorney, Agent or Firm:
Katsuo Ogawa (1 person outside)