MEASUREMENT METHOD OF EXTERNAL AXIS OF ROBOT, CREATION METHOD OF TEACHING DATA OF ROBOT, AND CONTROLLER OF ROBOT

摘要

PROBLEM TO BE SOLVED: To highly precisely measure a relative positional posture of a positioner rotational axis to a robot.

SOLUTION: There is provided a measurement method of an external axis of a robot 10 (a rotational axis or a translatory axis of the positioner) for measuring the relative positional posture of the rotational axis Ar or the translatory axis of a positioner 12 holding a workpiece W worked by the robot 10. The posture of the robot 10 with a reference point Pt of the robot 10 manually positioned to a measuring point Pm defined in a predetermined position with respect to the rotational axis Ar or the translatory axis of the positioner 12, is changed to a measuring posture while keeping a state of the reference point Pt positioned to the measuring point Pm. As the measuring posture, an posture having high similarity with respect to the working posture is determined based on (1) a difference value between a joint value at the working posture time when the robot performs the work on the workpiece W held by the positioner 12 and the joint value at the measuring posture time, in each of joints 10a-10f and (2) a weight value defined in advance for each of the joints 10a-10f.

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