Title:
TOOL COORDINATES DEFINITION SYSTEM
Document Type and Number:
WIPO Patent Application WO/1993/020491
Kind Code:
A1
Abstract:
A tool coordinates definition system capable of easily obtaining a transformation matrix for defining a tool coordinates system of a robot. The tool coordinates system (10C) at the 0° position of the robot is rotated around each axis so that the tool coordinates system (10C) becomes parallel to a base coordinates system (10A). A transformation matrix (XO) representing the relation of inclination between the hand coordinates system (10B) and the tool coordinates system (10C) is determined on the basis of an angle of rotation around each axis (P, Q, R) at that time and a matrix [HAND O] representing the attitude of the hand coordinates system at the 0° position. The attitude of the hand coordinates system (10B) at the 0° position can be obtained easily from a design value. An angle of rotation around each axis, too, can be obtained easily from a drawing, etc. Therefore, the transformation matrix (XO) can be easily determined without practically causing the robot (10) to take an attitude so that the tool coordinates system (10C) and the hand coordinates system (10B) become parallel to each other. The tool coordinates system (10C) is defined by the use of the transformation matrix (XO).
Inventors:
KAWAMURA HIDEAKI (JP)
ISHIKAWA HARUYUKI (JP)
ISHIKAWA HARUYUKI (JP)
Application Number:
PCT/JP1993/000340
Publication Date:
October 14, 1993
Filing Date:
March 23, 1993
Export Citation:
Assignee:
FANUC LTD (JP)
KAWAMURA HIDEAKI (JP)
ISHIKAWA HARUYUKI (JP)
KAWAMURA HIDEAKI (JP)
ISHIKAWA HARUYUKI (JP)
International Classes:
B25J9/10; B25J9/18; G05B19/18; G05B19/408; G05B19/4093; (IPC1-7): G05B19/403
Foreign References:
| JPS6125207A | 1986-02-04 | |||
| JPH02303779A | 1990-12-17 | |||
| JPS63296103A | 1988-12-02 | |||
| JPH03269604A | 1991-12-02 |
Other References:
See also references of EP 0592681A4
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