| 摘要 |
PROBLEM TO BE SOLVED: To automatically perform deflection correction with high accuracy even when a user does not set the weight and center of gravity of a work. SOLUTION: After moving to the teaching position, a torque change is obtained from the torque of the respective shafts, which do not grasp the work, and the torque of the respective shafts in the state of grasping the work, and a correction pulse of each shaft is obtained by a torque change-correction pulse table 6 to operate the respective shafts for correction pulses. COPYRIGHT: (C)2007,JPO&INPIT
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