| 摘要 |
A system for automatically compensating for inaccuracies of a robot in all degrees of freedom. The system includes moving a measuring body held by the robot gripper in response to a command representative of a previously determined nominal position within a measuring fixture known to the robot controller, determining by means of sensing means differences between pairs of sensed values and using said difference values to iteratively compensate for the error in respective angular coordinate direction beta , alpha and gamma and thereafter using the received pairs of equal sensor values to iteratively compensate for the error in respective orthogonal coordinate direction x, y and z. Alternatively, the errors in respective coordinate directions beta , alpha , gamma , x, y and z may be successively calculated and the calculated error values used to successively compensate for the errors in the associated coordinate directions. |
