| 摘要 |
<p>Provided is a method for correcting a tool parameter accurately in a short period of time through simple operations of a robot, without relying on the level of proficiency or skill of an operator. In this method for deriving a tool parameter for determining the tip end position of a welding tool (6) attached to a flange part (7) provided at the tip end of an arm of a welding robot (2), the welding tool (6) is made to take three or more different attitude angles, and in each attitude angle, the tip end point (P) of the welding tool (6) is moved to a flat plate (8), which serves as a reference plane, in the -Zb direction in the base coordinate system. Then, in each attitude angle, the amount of change in the translational component is found by measuring the amount of positional deviation of the tip end point (P) for when the tip end point (P) of the welding tool (6) has reached the flat plate (8), and the tool parameter is corrected on the basis of the amounts of change in the translational component that have been found.</p> |
