DEVICE AND METHOD FOR PROOFREADING STRUCTURE PARAMETER

摘要

PROBLEM TO BE SOLVED: To reduce the cost of a measuring unit at the time of manufacturing and shipping multiple robots. SOLUTION: Hand error measuring means 11-1 to 11-m respectively measure the errors of the three-dimensional absolute positions of the hands of robots 101-1 to 101-m in the same types. A structure parameter estimation means 12 estimates the structure parameter of the robot of the machine type based on the deviation of the three-dimensional absolute positions of m-pieces of robots. A structure parameter estimation value application means 13 applies an inner parameter being the structure parameter peculiar to the robot of the operated pertinent machine type to the control of the robots 101-(m+1) and 101-(m+2) of the same types.