| 摘要 |
PURPOSE:To improve the accuracy of positioning of absolute position of robot, by correcting the positioning error against the absolute coordinates of a robot by detecting the error from a correction table in which each position of robot is specified. CONSTITUTION:The motion range of a robot is divided into gridiron, and a correction table is prepared to each division specifying correction volume of DELTAA-DELTAC, or correction volume for rectangular coordinates system deltax-deltaz. Suppose that the recognition of the present position of robot is P0(x',y',z'), against which the robot is actually positioned at P1(x,y,z) having differences of deltay, deltaz. Denoting that the rotating angle of rotation axis 8 obtained from encoder is A, and angles of 4th and 5th joints are B' and C' respectively, B' and C' should be corrected by DELTAB and DELTAC to make a correct recognition of present position, and B=B'+DELTAB; C=C'+DELTAC are obtained. When (x), (y), (z) coordinates are decided according to these angles A-C, then; x=f(A,B,C); y=g(A,B,C); and z=h(A,B,C), and coincide to the actual position P1(x,y,z). |
