| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a jig suitable for deriving tool parameters (T<SB POS="POST">x</SB>, T<SB POS="POST">y</SB>, T<SB POS="POST">z</SB>, α, β, γ) of a robot easily in a short time and with high accuracy, especially in deriving tool vectors that are translation components (T<SB POS="POST">x</SB>, T<SB POS="POST">y</SB>, T<SB POS="POST">z</SB>) in the tool parameters. <P>SOLUTION: The jig 10 includes: three displacement meters 11 whose ends are provided with planar contacts 14 at their tips, and that can measure displacement along a measurement axis oriented in a perpendicular direction with respect to the planar contact 14, and also that measures a positional displacement amount of a tool end with the planar contact 14 so as to set it as an actual displacement amount; and an arrangement device 15 for arranging the three displacement meters 11 so that each measurement axis of the three displacement meters intersects at right angle to each other at a point and also the intersection point of each measurement axis becomes a predetermined point in a space. <P>COPYRIGHT: (C)2012,JPO&INPIT |
