Title:
METHOD OF CORRECTING LOCI OF AN INDUSTRIAL ROBOT
Document Type and Number:
WIPO Patent Application WO/1989/010588
Kind Code:
A1
Abstract:
A method of correcting loci of an industrial robot which can be executed using simple sensor systems and which reduces the burden for processing data of the robot. When the robot is allowed to reproduce its operation after a desired moving locus is taught to the robot using a fixed coordinate system, the robot controller calculates (S5) a position (Pi) of an interpolated point on the fixed coordinate system based on the data that are taught. Then, an error between the present moving position and the desired moving loci is found (S6) on a predetermined coordinate system defined by the present moving position and the present moving direction, and the error is converted (S7) into a correction quantity (xr', yr', zr') on the fixed coordinate system. An instruction value of a corrected position Pi' of each of the interpolated points is produced as Pi'(Xi + SIGMAxr', Yi + SIGMAyr', Zi + SIGMAzr') (S8).
Inventors:
HARA RYUICHI (JP)
Application Number:
PCT/JP1989/000410
Publication Date:
November 02, 1989
Filing Date:
April 17, 1989
Export Citation:
Assignee:
FANUC LTD (JP)
International Classes:
G05D3/12; G05B19/42; G05B19/425; (IPC1-7): G05B19/18; G05B19/403; G05B19/42
Foreign References:
| JPS63133208A | 1988-06-06 |
Other References:
See also references of EP 0371142A4
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