| 摘要 |
PROBLEM TO BE SOLVED: To provide a calibration method of a work coordinate system of a high-speed highly-accurate robot, by highly-accurately detecting at the submillimeter level such as the encoder resolution, by detecting a contact position by contacting with a work object without losing high speed performance being a characteristic of the robot. SOLUTION: Processing is performed by a procedure in such a way that a probe having an elastically deformable area is used to repeat contact position detecting processing by a predetermined frequency before and after a position-posture error is caused, so that a position-posture of the work object to the robot coordinates is calculated, the position-posture error is calculated, and teaching data before a position error is caused is corrected. COPYRIGHT: (C)2012,JPO&INPIT |
