| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a high-precision horizontal articulated robot. <P>SOLUTION: A method for correcting a coordinate value of the horizontal articulated robot 10, includes the steps of: recognizing the images of positions of reference marks P1, P2, P3 provided in a glass mask 80 with a CCD camera 40 to measure a U shaft center to be a reference of a working point; revolving a first arm 50 and a second arm 60 till the reference marks P1, P2, P3 and the U shaft coincide with each other, and calculating the inclination of the glass mask 80 relative to a coordinate of the robot, from the travel distances of the arms; calculating at least two points of a reference coordinate of the robot, while taking into consideration of the inclination of the glass mask 80; revolving the U shaft till it coincides with the reference coordinate of the robot to create a model point; calculating a coordinate difference between the coordinate of the robot at the time and the model point; using the coordinate difference to calculate a coordinate correction value of the U shaft from an arm length error (ΔL1, ΔL2) and an assembling angle error (Δθ1, Δθ2); and correcting a command coordinate value of the U shaft, based on the coordinate correction value. <P>COPYRIGHT: (C)2012,JPO&INPIT |
