Title:
METHOD FOR CORRECTING MECHANICAL ORIGIN POSITION OF ARTICULATED ROBOT
Document Type and Number:
Japanese Patent JPH02114103
Kind Code:
A
Abstract:
PURPOSE:To enhance correction accuracy and safety at the time of measurement by leading out the difference between the detection value of an internal sensor and a preset theoretical value and correcting a mechanical origin position on the basis of the correction value based on said difference. CONSTITUTION:A beam emitter-detector 3 emits beam in parallel to the arms 10, 11 of a robot 1 and detects the beam reflected through a corner prism 4. At the time of such a state that the detected beam shows the max. value, the difference between the detection value of the internal sensor mounted on the robot and the theoretical value in said state is led out and a mechanical origin position is corrected on the basis of the correction value based on said difference. By this method, even when there is irregularity in the output of the internal sensor, the actual position of the arms 10, 11 of the robot 1 can be detected with good accuracy without receiving the effect of said irregularity.
Inventors:
NAGASAWA KICHIJI
IKEDA TOSHIYUKI
IKEDA TOSHIYUKI
Application Number:
JP26624788A
Publication Date:
April 26, 1990
Filing Date:
October 24, 1988
Export Citation:
Assignee:
OKI ELECTRIC IND CO LTD
International Classes:
G01B11/00; B25J19/02; (IPC1-7): B25J19/02; G01B11/00
Attorney, Agent or Firm:
Keiichi Yamamoto