| 摘要 |
PROBLEM TO BE SOLVED: To shorten the time required of a positioning operation to be performed at every one time of the operation by reducing error factors peculiar to various kinds of arrangements caused by dimensional accuracy or the like.SOLUTION: When such an assembling operation as to assemble an electric wire with a terminal to a connector housing is performed by using a plurality of independent operational arrangements, positioning errors due to error factors peculiar to various kinds of arrangements are reduced by calibration performed beforehand. A correction amount corresponding to an error factor peculiar to the first arrangement side and a correction amount corresponding to an error factor peculiar to the second arrangement side are assembled into a transformation relation for performing coordinate transformation between a robot coordinate and a world coordinate (S20). Because the positioning error peculiar to the arrangement can be sharply reduced, the time required for positioning is shortened and the more accurate positioning is facilitated. A positional deviation parallel to each axial direction of X, Y, Z, a rotation around each axis and a calibration rate are measured and specified (S18).SELECTED DRAWING: Figure 1 |
