| 摘要 |
<p>This invention provides a method of automatically setting the position of a tool tip point accurately and easily in the coordinate system set on a face plate of a robot. A robot is allowed to assume various postures in a state where the tip point of a tool (2) is located to one point (4) in a robot disposition space and at least four coordinate positions representing the center points (3) of the face plates in individual robot postures are determined. Next, the spherical plane (5) passing through these positions is determined by the method of least squares and then the position of the tool tip point is calculated and set in the face plate coordinate system on the basis of the calculated value of the center position of the radius of curvature of the spherical plane, the determined coordinate positions and tool posture vectors.</p> |
