CALIBRATION METHOD OF WELDING ROBOT USING A SIMULATION S/W

摘要

PURPOSE: A welding robot simple calibration method is provided to improve reliability of a corresponding off-line program by easily and accurately detecting a tool center point and a robot position through a simulation software. CONSTITUTION: A master jig is installed in a three-dimensional position in a working place of a welding robot, and a slave jig is fixed between upper and lower ends of a tip of a welding gun. A corresponding welding robot is mastered to adjust a joint of a robot in zero degree. Respective joint values needed for positioning at probe positions on the slave jig and the master jig are adopted as teach data and applied to a real robot. While detecting the slave jig moved near a present probe position, on-line teaching is performed via a teach pendant. Robot joint data are obtained based on a result of teaching. The joint and probe position data are applied to a machinery kinematics equation to draw up a calibration software. A tool center point is set up based of a robot base position and a system of coordinates. Robot base coordinate and tool center point coordinates are substituted with the robot base position and the tool center point, and an off-line program is drawn up. The program as a job program is actually inputted to a corresponding robot. In setting up of the robot position and the tool position center, a least square fitting method is applied to 3 to 6 teaching results to output an optimal value.