发明名称 |
Method for correcting abrasion in a robot having a wearing tool mounted thereon |
摘要 |
Burring by way of a grind stone using a robot has been rarely practiced because the correction of abrasion of the grind stone involves a problem. There has been hitherto proposed a method for correction of abrasion by making use of a force sensor or a special tool holder apparatus. However, since the apparatus is expensive and low in reliability, it has not been practical. In the present invention, a coordinate system is set to a wearing tool mounted to a wrist of a robot separately from the rectangular coordinates of the robot, and the worn amount of the tool detected by use of a sensor is subjected to parallel shifting on the coordinate system of the tool set to the tool to effect correction of abrasion, which is characterized in that a special hard is not required, and operation is simple.
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申请公布号 |
US4926604(A) |
申请公布日期 |
1990.05.22 |
申请号 |
US19880291300 |
申请日期 |
1988.12.28 |
申请人 |
KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO |
发明人 |
HARA, MASAAKI;NISHIKAWA, SEIGO;TAZAKI, TAKETOSHI;INOKUCHI, HIROSHI |
分类号 |
B24B49/04;B23Q15/16;B24B47/20;B24B49/10;B24B49/18;B25J9/10;G05B19/404;G05B19/41 |
主分类号 |
B24B49/04 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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