COORDINATE SYSTEM SETTING METHOD FOR INDUSTRIAL ROBOT

摘要

PURPOSE:To handle an industrial robot similarly to the case where the robot is fixed to the surface of a horizontal floor even when the robot is fixed to a slanting surface by correcting the basic coordinate system according to the angle of inclination and forming a corrected basic coordinate system. CONSTITUTION:An industrial robot is fixed to a slanting surface 70 inclined by an angle delta to a horizontal floor 60 through a base part 58. A corrected basic coordinate system XYZ is formed by multiplying a basic coordinate system with a rotation matrix due to the slanting angle delta. A coordinate system for the hand fitting part 56 of the robot is set based on the corrected coordinate system. Thereby, a robot operating part can be moved horizontally or vertically by the inputting of coordinate values or displacements in the horizontal and vertical directions. Accordingly, the robot can be handled similarly to the case where the robot is fixed to a surface of a horizontal floor even when the robot is fixed to a slanting surface.