ROTATION CENTER POINT CALCULATING METHOD, ROTATION AXIS CALCULATING METHOD, PROGRAM CREATING METHOD, OPERATION METHOD, AND ROBOT APPARATUS

Title:

ROTATION CENTER POINT CALCULATING METHOD, ROTATION AXIS CALCULATING METHOD, PROGRAM CREATING METHOD, OPERATION METHOD, AND ROBOT APPARATUS

Document Type and Number:

WIPO Patent Application WO/2007/138756

Kind Code:

A1

Abstract:

Provided is a rotation center point calculating method, which calculates a rotation center point on the rotation face of a positioning device for rotating to position a workpiece, by using a manipulator. The rotation center point calculating method comprises a first step of acquiring the positional information of a predetermined position on the rotation face by using a manipulator, a second step of turning the rotation face of the positioning device by 180 degrees, a third step of acquiring the positional information of a predetermined position on the rotation face turned by 180 degrees, by using the manipulator, and a fourth step of calculating the position bisecting a straight line joining the predetermined position at the first step and the predetermined position at the third step, as the rotation center point of the rotation face of the positioning device, from the positional information acquired at the first step and the positional information acquired at the third step.

Inventors:

OKAZAKI YOSHIYUKI
HIRAYAMA MASAYA

Application Number:

PCT/JP2007/050579

Publication Date:

December 06, 2007

Filing Date:

January 17, 2007

Export Citation:

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Assignee:

MATSUSHITA ELECTRIC IND CO LTD (JP)
OKAZAKI YOSHIYUKI
HIRAYAMA MASAYA

International Classes:

B25J9/10; B25J9/22; B25J13/08; G01B21/24

Foreign References:

JP2005313254A	2005-11-10
JP2000020120A	2000-01-21
JPH08137528A	1996-05-31
JPH06301411A	1994-10-28
JPH0934523A	1997-02-07
JP2001125623A	2001-05-11
JPS6389279A	1988-04-20
JP2005313254A	2005-11-10
US6243621B1	2001-06-05

Other References: