METHOD FOR DETECTING INSTALLATION STATE OF WORKING ROBOT

摘要

PROBLEM TO BE SOLVED: To improve the operation rate of a working robot by making it possible to detect the installation state of the working robot as to a work and efficiently correcting teaching data according to the detected information. SOLUTION: Three center points P1 to P3 of rotation are found by rotating the 2nd axis J1 of rotation of the working robot 14 at three arbitrary angles and the 1st axis J6 of rotation at three arbitrary angles, the center point P0 of rotation among those three center points P1 to P3 of rotation is found, and further the position of the origin point PB of the working robot which is at a specific distance D from the center point P0 of rotation is found by using the normal vector of the plane containing the center points P1 to P3 of rotation. Then the gradient of the straight line P0 to PB is found to find the attitude of the working robot.