| 摘要 |
PROBLEM TO BE SOLVED: To provide a positioning method and a positioning device for a robot, obviate the need to add a special device, simplify structure, and be manufactured inexpensively. SOLUTION: At a step 100, a flexible spring constant in a press direction is set to a most flexible spring constant, and at steps 101, 102, and 103, a position arrival decision value PA is calculated from position deviations (x), (y), and (z). At a step 104, grinding operation is effected. At a step 105, it is decided whether a present position attains the value PA, and when it does not attain, a return to a step 4 is effected. When the present position attains the value PA, it is decided at a step 106 whether a difference between a present position and an objective position is within a given value. When the difference outside the given value, at a step 105, a spring constant in a target position is hardened and the decision value PA is computed. At a step 108, it is decided whether a grinding remaining amount all in route positions is a given amount. When it is a given value, grinding is completed and when a remaining amount is outside a given value, it is decided at a step 109 whether the present position is a terminal. When it is a terminal, the objective position is reset to a starting end, and a return to a step 101 is effected. When the present position is not a terminal, at a step 110, the present position is updated to the objective position, where grinding remains, and a return to a step 101 is effected. |
