| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a tool parameter derivation control device and a robot having the same, capable of automatically deriving a dimension of a translation component of a tool installed in the rotational center of a flange surface on the arm tip of a multi-jointed manipulator of the robot. <P>SOLUTION: The inclination to a base coordinate system B of a plate tool 50 is calculated based on a moving amount by acquiring the moving amount in the Zb axis direction of the base coordinate system B until contact between the tool 11 and the plate tool 50 is detected by a tool contact detecting part 40 in a position of three places or more. The dimension of the translation component of the tool 11 is derived based on the moving amount by acquiring the moving distance in the Z axis direction of a working coordinate system W until the contact between the tool 11 and the plate tool 50 is detected by the tool contact detecting part 40 in a state of positioning the rotational center P of the flange surface 12 in a plurality of positional attitudes in the working coordinate system W by setting the working coordinate system W parallel and vertical to the plate tool 50 based on its inclination. <P>COPYRIGHT: (C)2012,JPO&INPIT |
