| 摘要 |
PURPOSE:To achieve a higher workability, by measuring errors of the position of fixing work with a distance measuring sensor mounted at the tip of an arm to convert the coordinate system of a robot based on the result. CONSTITUTION:When correcting errors of the position of fixing work prior to the start of a specified work with a robot, first, a distance measuring sensor 8 is mounted detachably at the arm tip 5 of the robot through a changer 7 and a linear encoder 13 linked to a measuring element 14 of the sensor 8 is connected to a controller 7 of the robot through a counter 19 or the like. Then, at the teaching a rectangular coordinate system which will match the work fixed as specified in the longitudinal, lateral and vertical ways is established to have the motion of the sensor 8 taught to a controller 7. Moreover, the measuring element 14 is put at the reference point which allows the measurement of errors in individual axis direction to measure the position which is read and memorized into the controller 7 to convert the coordinate system.
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