| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot operation path data preparation method for reducing the error correction of a real robot as much as possible even if the status of any load imposed on the robot is changed in a plurality of contact points. SOLUTION: The operation path data of a robot including positions of a plurality of contact points where a work is brought into contact with a robot by computer simulation are prepared (S4), and the prepared operation path data are divided into a plurality of parts according to the load status of the robot (S5, 6). The real robot is operated by the operation path data divided into the plurality of parts, and the position correction of the contact point of the real robot and the real work is operated by using one contact point for every part (S10 to S13). Then, the position of the other contact point in each part is corrected by using a correction quantity acquired by the position correction so that the final operation path data are completed for each part. COPYRIGHT: (C)2006,JPO&NCIPI
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