Title:
POSITIONING CORRECTION FOR ROBOTS
Document Type and Number:
WIPO Patent Application WO/1990/008016
Kind Code:
A1
Abstract:
A positioning correction for robots, capable of preventing a decrease in the positioning accuracy, which is ascribed to an error specific to a robot. Simultaneous equations including link length errors (DELTA11, DELTA12) and actual angles of rotation (1, 2), of first and second links as unknown quantities are solved by using displayed angles of rotation of the first and second links (1, 2), which are obtained by sequentially carrying out the mastering concerning a plurality of known points, to determine the link length errors, errors (DELTAx0, DELTAy0) of positions of centers of pivotal movements of arms, errors (DELTA10, DELTA20) of angles of rotation of the links. When a robot is operated, the program-designated target positions of transfer of the front ends of the arms on the X- and Y-axes are corrected by using the errors of positions of centers of pivotal movements of the arms, and the actual link lengths are determined by using the link length errors. The angles of rotation of a servomotor relating to the first and second links is determined by a coordinate transformation processing based on the corrected positions of transfer of the front ends of the arms, actual link lengths and errors of angles of rotation of the links.
Inventors:
TORII NOBUTOSHI (JP)
NIHEI RYO (JP)
YASUMURA MITSUHIRO (JP)
NIHEI RYO (JP)
YASUMURA MITSUHIRO (JP)
Application Number:
PCT/JP1990/000075
Publication Date:
July 26, 1990
Filing Date:
January 23, 1990
Export Citation:
Assignee:
FANUC LTD (JP)
International Classes:
B25J9/16; B25J9/18; B25J13/00; B25J9/10; G05D3/12; (IPC1-7): B25J9/10; B25J13/00; G05D3/12
Foreign References:
| JPS60128507A | 1985-07-09 | |||
| JP5959394A | ||||
| JPS58160087A | 1983-09-22 | |||
| JPS58160086A | 1983-09-22 |
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