JPH03161223A - Fitting of work - Google Patents

Fitting of work

Info

Publication number
JPH03161223A
JPH03161223A JP30036789A JP30036789A JPH03161223A JP H03161223 A JPH03161223 A JP H03161223A JP 30036789 A JP30036789 A JP 30036789A JP 30036789 A JP30036789 A JP 30036789A JP H03161223 A JPH03161223 A JP H03161223A
Authority
JP
Japan
Prior art keywords
work
gripping position
pair
position
dimensional sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
JP30036789A
Other versions
JPH0626770B2 (en
Inventor
Arata Hiramatsu
Gohei Iijima
Takao Kanamaru
Katsuya Miura
Yasuo Nakano
Sadahiro Taneda
Sumihiro Ueda
Original Assignee
Kawasaki Heavy Ind Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kawasaki Heavy Ind Ltd filed Critical Kawasaki Heavy Ind Ltd
Priority to JP1300367A priority Critical patent/JPH0626770B2/en
Publication of JPH03161223A publication Critical patent/JPH03161223A/en
Publication of JPH0626770B2 publication Critical patent/JPH0626770B2/en
Anticipated expiration legal-status Critical
Application status is Expired - Fee Related legal-status Critical

Links

Abstract

PURPOSE: To position a work with a high accuracy by determining the amount of dislocation between a present gripping position and a predetermined reference gripping position, based on the detection result by a three-dimensional sensor, and by compensating a teaching data regarding the movement of a work to a pair of pins provided at predetermined positions corresponding to the reference gripping position, using the amount of dislocation.
CONSTITUTION: The gripping position of a work 102 to be gripped by a robot 105 is detected based on the photograph result of a two-dimensional sensor 109, and the gripping position is gripped by the robot, so as to bring the work 102 to the visual field of a three-dimensional sensor 110. The position of a pair of holes 103 is detected by the three-dimensional sensor 110, under the condition that the work is gripped by the robot, and the dislocation amount between a present gripping position and a predetermined reference gripping position is determined, based on the detection result of the position of the pair of holes by the three-dimensional sensor. A teaching data of the movement of the work to a pair of pins 107 provided on a predetermined fixed position in relation to the reference gripping position, is compensated using the dislocation amount, so as to fit the pair of holes to the pair of pins.
COPYRIGHT: (C)1991,JPO&Japio
JP1300367A 1989-11-17 1989-11-17 How to fit the work Expired - Fee Related JPH0626770B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP1300367A JPH0626770B2 (en) 1989-11-17 1989-11-17 How to fit the work

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1300367A JPH0626770B2 (en) 1989-11-17 1989-11-17 How to fit the work

Publications (2)

Publication Number Publication Date
JPH03161223A true JPH03161223A (en) 1991-07-11
JPH0626770B2 JPH0626770B2 (en) 1994-04-13

Family

ID=17883925

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1300367A Expired - Fee Related JPH0626770B2 (en) 1989-11-17 1989-11-17 How to fit the work

Country Status (1)

Country Link
JP (1) JPH0626770B2 (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008246659A (en) * 2007-03-30 2008-10-16 Komatsu Ltd Position measuring apparatus for work robot
JP2008279549A (en) * 2007-05-10 2008-11-20 Honda Motor Co Ltd Workpiece conveying system and workpiece conveying method
JP2008279551A (en) * 2007-05-10 2008-11-20 Honda Motor Co Ltd Workpiece positioning device and workpiece positioning method
JP2009248214A (en) * 2008-04-03 2009-10-29 Kanto Auto Works Ltd Image processing device and robot control system
JP2011507714A (en) * 2007-12-27 2011-03-10 ライカ ジオシステムズ アクチェンゲゼルシャフトLeica Geosystems AG Method and system for accurately positioning at least one object in a final pose in space
JP2012223840A (en) * 2011-04-15 2012-11-15 Yaskawa Electric Corp Robot system, and inspection method using robot system
JP2013086230A (en) * 2011-10-20 2013-05-13 Yaskawa Electric Corp Object processing system
JP2018008319A (en) * 2016-07-11 2018-01-18 株式会社安川電機 Robot system, robot control method and robot controller

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62236632A (en) * 1986-04-05 1987-10-16 Mazda Motor Corp Assembly device for parts

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62236632A (en) * 1986-04-05 1987-10-16 Mazda Motor Corp Assembly device for parts

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008246659A (en) * 2007-03-30 2008-10-16 Komatsu Ltd Position measuring apparatus for work robot
JP2008279549A (en) * 2007-05-10 2008-11-20 Honda Motor Co Ltd Workpiece conveying system and workpiece conveying method
JP2008279551A (en) * 2007-05-10 2008-11-20 Honda Motor Co Ltd Workpiece positioning device and workpiece positioning method
JP2011507714A (en) * 2007-12-27 2011-03-10 ライカ ジオシステムズ アクチェンゲゼルシャフトLeica Geosystems AG Method and system for accurately positioning at least one object in a final pose in space
JP2009248214A (en) * 2008-04-03 2009-10-29 Kanto Auto Works Ltd Image processing device and robot control system
JP2012223840A (en) * 2011-04-15 2012-11-15 Yaskawa Electric Corp Robot system, and inspection method using robot system
US9031696B2 (en) 2011-04-15 2015-05-12 Kabushiki Kaisha Yaskawa Denki Robot system and processed object manufacturing method
JP2013086230A (en) * 2011-10-20 2013-05-13 Yaskawa Electric Corp Object processing system
JP2018008319A (en) * 2016-07-11 2018-01-18 株式会社安川電機 Robot system, robot control method and robot controller

Also Published As

Publication number Publication date
JPH0626770B2 (en) 1994-04-13

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Legal Events

Date Code Title Description
LAPS Cancellation because of no payment of annual fees