| 摘要 |
PROBLEM TO BE SOLVED: To easily and highly accurately detect the position of a tool and the relative position of a robot and an object. SOLUTION: In a tool position detection method, the tool 8 having a spherical surface part 8a is mounted to a tool mounting part 7e at the tip of an arm 7 of the robot 2. An unknown number is set as a component of a tool vector from the tool mounting part 7e to the center of the spherical surface part 8a. The spherical surface part 8a is brought into contact with a flat plate 16 as changing the attitude of the tool 8 by at least the same number of times as the unknown number. The positions of the tool mounting part 7e in contact are each determined on the basis of an joint angle of the arm 7 of the robot 2 in contact. Simultaneous equations which mean that the Z-position of the center of the spherical surface part 8a obtained from the sum of the Z-position of the plat plate 16 and a curvature radius Rc of the spherical surface part 8a is equal to the Z-position of the center of the spherical surface part 8a obtained from the sum of the Z-position of the tool mounting part 7e and a Z-component of the tool vector in a specific coordinate system are formed by at least the same number of times as the unknown number. By solving the simultaneous equations, the component of the tool vector is determined. COPYRIGHT: (C)2010,JPO&INPIT |
