| 摘要 |
<p>The present invention relates to a method for adjusting a program including program instructions for controlling an industrial robot to carry out work at a plurality of target points on a work object (2). The robot comprises a tool (4) having two arms (5a- b) adapted to clamp the work object and at least one of the arms is arranged movable relative the other arm in an opening and a closing direction, a manipulator (3) adapted to hold the tool or the work object, and a controller (7) controlling the movements of the manipulator and the tool arm and configured to switch between a normal control mode and a compliant control mode in which the manipulator has a reduced stiffness in at least one direction. The method comprises moving the manipulator and the tool according to the program instructions until one of the target points is reached, switching the controller to the compliant control mode so that the manipulator has a reduced stiffness in said opening and closing direction of the tool, moving the tool arm in the closing direction until the work object is clamped between the tool arms, by that moving the manipulator to the correct position in relation to the work object, and storing the positions of the axes of the manipulator and the position of the tool, and based thereon adjusting the program instructions for the movements of the manipulator and the tool at the target point.</p> |
