JPH08129408A - Calibration method for positioner - Google Patents

Abstract

PURPOSE: To provide a calibration method which can easily acquire the data on the relative position between the robot positioners and also on the offset value between the positioner axes. CONSTITUTION: The coordinate axes +Z and +X of a base coordinate system Σm of a positioner are designated to the axes J1 and J2 which are vertical to each other. The directions are designated to other axes in response to the designation of both axes +Z and +Z. If the axis Jk is a rotary shaft, the tool tip point T1 of a robot is shifted to a reference point P0 set on the positioner. Then a position P0 and the positions P1 and P2 of the point P0 set after its rotary shift are taught to the robot. If the axis Jk is a direct acting shaft, the positions of two points set before and after their translational shift are taught to the robot. Based on these teaching data, the data on the positions and directions of all axes are acquired. Then the axis Z of the system Σm is put on the axis J1 and the axis X is set parallel to the axis J2. The position of an original point is set on the axis J1 and the system Σm is set. The offset value between the axes Jk-1 and Jk (k=1, 2...n) which are adjacent to each other is calculated based on the data on the axes J1 to Jn that are taught to the robot, and this offset value is stored.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioner, that is, a method for calibrating a robot that operates only each axis feed, and more specifically, a positioner that is required for operating a normal robot in cooperation with the positioner. Regarding the method of calibration.

[0002]

2. Description of the Related Art Conventionally, a type of robot that operates exclusively in each axis movement type is known and is called a positioner (however, even a normal robot has only each axis movement type). When used as an element that operates in, it will be called a positioner).

As one useful use of the positioner,
There is a usage pattern in which the positioner is used for cooperative operation with an ordinary robot (hereinafter, simply referred to as a robot). In that case, the position of each axis of the positioner (including the movement target position and the posture; the same applies hereinafter unless otherwise specified) is calculated, and the robot is controlled based on the result. The position of each axis of the robot is usually obtained by defining the spatial position of the tool tip point of the robot to be taken with respect to the tool tip point position of the positioner, and then solving this by inverse kinematics.

The relative position of the tool tip point of the robot to be taken with respect to the tool tip point of the positioner is determined by the contents of the cooperative operation. For example, in the case of the work of gripping an object with the hand attached to the robot and the hand attached to the positioner, the tool tip point position of the robot should maintain a constant positional relationship with the tool tip point of the positioner. It is customary to be defined.

By the way, in order to calculate each axial position (movement target position) of the robot based on the position of the tool tip point of the positioner, the relative position of the positioner with respect to the robot (positional relation between the bases) and the structure of the positioner itself are related. The offset amount between each positioner axis, which is a parameter, must be known.

Conventionally, there is no simple method for obtaining the data of the relative position between the robot and the positioner and the offset amount between each axis of the positioner, and the design data is used, or a measuring instrument for measuring these is specially provided. There was no choice but to take measures such as preparing and performing complicated measurements.

[0007]

SUMMARY OF THE INVENTION An object of the present invention is to provide a calibration method capable of easily acquiring data on the relative position between the robot and the positioner and the offset amount between each axis of the positioner. Further, through that, it is possible to improve the accuracy of the coordinated operation of the positioner and the robot and to facilitate the use of the positioner and the robot in the use mode of the coordinated operation.

[0008]

The present invention provides, as a basic technical means for solving the above technical problems, "a step of causing a positioner for performing a cooperative operation with a robot to take a basic posture, and an axis of the positioner. A step of sequentially specifying a number, a step of specifying a relationship between the specified axes and a direction of a coordinate axis of a base coordinate system set in the positioner, and a reference on the positioner in relation to the specified axes. A step of designating a point, a step of teaching the robot a reference point position before and after a movement about the designated axis, a base coordinate system is set in the positioner based on the taught data, And a method of calibrating the positioner including the step of calculating the offset amount between the axes.

Further, assuming one typical mode, "in the basic posture, the first axis and the second axis of the positioner are perpendicular to each other, and one coordinate axis of the base coordinate system is the first axis. The coordinate system is set so as to overlap the axis, and another coordinate axis is set parallel to the second axis. "

[0010]

First, the positioner axis number (represented by k) is set so that the drive shafts adjacent to the positioner for performing the coordinated movement with the robot are all in a parallel or vertical posture.
Are sequentially specified. Specify the rotation axis / linear motion axis for Jk. For example, when the first axis J1 and the second axis J2 are perpendicular to each other, two axes (eg, + Z and + X) of the base coordinate system Σm of the positioner are designated with respect to the axes J1 and J2. Specify the directions for the remaining axes. When Jk is the rotation axis, the tool tip point of the robot is moved to the reference point on the positioner and the reference position is taught to the robot. Similarly,
Teach two or more positions of the reference point after the rotational movement of the axis Jk. When Jk is the linear axis, the robot is taught two or more positions before and after the translational movement. Based on the teaching data, position and direction data of all axes are obtained. The coordinate system .SIGMA.m is set, for example, so that the Z axis overlaps with J1 and the X axis is parallel to the J2 axis, and the origin position is determined on the Z axis and J1. The offset amount between the adjacent axes Jk-1 and Jk (k = 1, 2 ... N) is obtained from the data of J1 to Jn taught to the robot and is taught to the robot.

Since the data of the relative position between the robot and the positioner and the offset amount between each axis of the positioner are obtained as the actual measurement data and are taught to the robot of the cooperative operation partner, it is easy to improve the accuracy of the cooperative operation of the positioner and the robot. Becomes In addition, it becomes easy to use the positioner and the robot in the cooperative use mode.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First, referring to FIGS. 1 and 2, a brief description will be given of the cooperative operation of a robot and a positioner, which is the premise of the present invention. FIG. 1 schematically shows a general arrangement relationship between a robot that performs cooperative operation and a positioner. FIG. 2 is a block diagram showing the outline of the configuration of the robot-positioner system control device shown in FIG.

In this embodiment, a method of calibrating a positioner in such a robot-positioner system will be described. In FIG. 1, the number of axes of the robot and the positioner is simplified and illustrated as three, but this is for convenience of illustration, and in general, other numbers of axes may be used (for example, robot, (6 axes for both positioners).

The robot-positioner system shown in FIG.
It is composed of a robot R1 and a positioner R2, and a control device 1 for controlling them. During the coordinated operation, the arm of the robot R1 is set as the slave arm and the positioner R
The second arm is the master arm. Each arm is driven via each mechanical unit 3 and 4, and each mechanical unit 3 and 4 is controlled by the control device 1.

Each arm has joints 11, 12, 13, 21,
22 and 23, and the hand Hs
, Hm are installed. The hand Hs attached to the robot R1 supports a jig 30 used for calibration to be described later. The tip of the jig 30 has a pointed shape, and the tool tip point T
1 is set. Tool tip point T of positioner R2
2 is set in the vicinity of the hand Hm according to the relationship between the hands Hs and T1.

As shown in FIG. 2, the control unit 1 includes a central processing unit (main CPU, hereinafter simply CPU).
Say ) 101, and the CPU 101 has a RAM
And a memory 102 including a ROM, a teaching operation panel interface 103 connected to a teaching operation panel 104 for performing exercise teaching / coordinate setting, an input / output interface 1 for an offline program creating device or an external device.
06, servo control unit # 1 for controlling each axis of the robot R1
To #n and servo control units # 1 to #m for controlling each axis of the positioner R2 are connected via a bus 107.

The numbers n and m of the servo control units are the numbers of axes for driving the robot R1 and the positioner R2, respectively. For example, if the robot R1 and the positioner R2 have a six-axis configuration, then n = m = 6. Each servo controller has
A servo motor that drives each axis of the robot and the positioner is connected via a servo amplifier.

When the two arms of the robot-positioner system of FIG. 1 are made to cooperate with each other, for example, when gripping and carrying an article, the slave arm is made to cooperate with the master arm. Therefore, in the control device 1, each axis position of the positioner R2 for realizing the movement of the tool tip point T2 based on the teaching data is calculated, and the robot R1 is moved with respect to the tool tip point T2 of the positioner R2. Tool tip point T1 of
It is represented by the constant matrix F. ) Is calculated for each axis position of the robot.

The tool tip point T1 of the robot R1 is obtained,
In order to calculate each axial position of the robot R1 for realizing it, first, the relative positional relationship between the robot R1 and the positioner R2 must be known. This relationship is
It can be considered as a relationship (which can be represented by a homogeneous transformation matrix G) of the base coordinate system Σm set in the positioner R2 with respect to the base coordinate system Σs of the robot R1. Further, when converting each axis value into a spatial coordinate value based on kinematics, data of the offset amount between each axis of the positioner R2 is also indispensable. That is, it is necessary to calibrate the positioner R2.

According to the present invention, the robot R1 can be used for the calibration of the positioner R2. Hereinafter, the procedure for calibrating the positioner R2 in the present embodiment will be described in the form of explaining each step described in the flowchart of FIG. In the description, FIG. 4 and the subsequent figures are referred to as appropriate. Fig. 4 shows J1 axis ~ J
It is a schematic diagram showing the state in the basic posture of 3 axes (the meaning will be described later). (1) illustrates the case where the J1 axis, J2 axis and J3 axis are all rotating axes, and (2) shows the J1 axis. Is a direct acting shaft, and J2 axis and J3 axis are rotating shafts.

FIGS. 5 and 6 are schematic diagrams for explaining the procedure for obtaining the position and direction of the rotary shaft and the linear motion shaft of the positioner R2 using the robot R1.

It is assumed that a program (referred to as a calibration program) for executing the CPU processing required at each stage shown in FIG. 3 and related set values are already stored in the memory 102 of the control device 1. . The number of axes of the positioner R2 is n (for example, n =
6). Further, it is assumed that mastering is completed in advance so that all the axis values become θi = 0 (i = 1,2,3..n) when the positioner R2 is in the basic posture.

Here, the basic posture means a posture in which all axes representing adjacent drive axes are parallel or vertical. In FIG. 1, each of the joints 21 to 23 corresponds to either a state where the joints 21 to 23 are fully extended or a state where they are angularly displaced by 90 degrees. In this embodiment, FIG.
As shown in (1) and (2), it is assumed that the first axis J1 and J2 of the positioner R2 are in a vertical relationship in the basic posture.

In addition, the rotation axis of the J1 axis, J2 axis, and J3 axis /
Regardless of the type of linear motion axis, the third axis J3 is assumed to face the direction perpendicular to both J1 and J2 in the basic posture (generally, all joints are extended to the basic posture). It is not practical to choose.).

Step S1: The positioner R2 is made to take a basic posture. At this time, all axis values are θi = 0.

Step S2: The axis number of the positioner R2 is designated. Here, the axis number 1 attached from the base side
The axis number shall be specified in the order of 2 ... n. Here, the axis number is designated by starting with k = 0 and adding 1 to k every time, where k is the index indicating the axis number.

Step S3: Designate whether the axis Jk designated in step S2 is a rotary axis or a linear motion axis.
The designation is performed, for example, by manual input from the teaching operation panel 104, or data for specifying either the rotary axis or the linear motion axis for each axis number k is input to the memory 102 in advance, and this is specified in this step. You may read by the process of. If the axis Jk is a rotation axis, the process proceeds to step S4,
If the axis Jk is a direct acting axis, the process proceeds to step S4 '.

Step S4: With respect to the designated rotation axis Jk, one of the + X, -X, + Y, -Y, + Z and -Z axes (with direction) of the base coordinate system Σm set in the positioner R2 is set. specify. Generally, since there is no particular limitation on the attitude of the base coordinate system Σm set in the positioner R2, two axes out of the three axes of the X axis (either the + direction or the − direction, the same applies below), the Y axis, and the Z axis. Until is specified, the degree of freedom remains in the specification of the coordinate axis direction.

Here, when the first shaft J1 of the positioner R2 is the rotating shaft, the rotating shaft J1 is rotated about the rotating shaft J1 in the first step S4 as shown in FIG. 4 (1).
1 (the direction in which the right-hand screw advances when the axis value is increased) and the Z axis (+ direction) are specified to match (other axes, -Z, + X, etc. can also be specified). .

Further, the direction of the J2 axis is selected to be the + X axis direction. That is, when k = 2, + X is designated. Since the coordinate system set for the robot or the positioner is generally required to be the right-handed system, there is no freedom left for specifying after k = 3. Therefore, the designation from the J3 axis onward is made according to the orientation of the axis with respect to the axes J1 (+ Z axis direction is already designated) and J2 (+ X axis direction is already designated).

Step S4 ': Any one of + X, -X, + Y, -Y, + Z, -Z is specified for the specified linear motion axis Jk. As in step S4, the first
If the axis is a linear axis, as shown in Fig. 4 (2), specify the linear axis J1 (displacement direction when the axis value is increased) and the Z axis (+ direction) to match. And

When the J2 axis is a linear axis, that direction is selected as the + X axis direction. That is, in the present embodiment, when k = 1 and k = 2, the directions are designated in the order of + Z and + X regardless of whether J1 and J2 are the rotary axis and the direct acting axis, respectively.

Similar to the case of step S4, since there is no degree of freedom in the designation after k = 3, the direction of the linear motion axis after the J3 axis is designated as the axis J1 (+ Z).
Axial direction is already specified) and J2 (+ X axis direction is already specified) depending on the direction.

Step S5: The robot R1 is moved by jog feed, and the tool tip point T1 of the robot R1 is moved to a reference point P0 designated at an appropriate position on the positioner R2.
Bring (the tip of the jig 30) (see FIG. 5). In principle, the reference point P0 is the body portion Bk of the positioner R2 driven by the rotational axis Jk of interest (FIG. 5).
Displayed with a broken line inside. ) It may be set to any of the above, but in practice, it is preferable to set the tool tip point T1 of the robot R1 to a characteristic point on the appearance that is easy to access.

In order to prepare the appearance feature points on the positioner R2 in advance, it is also one method to mark an appropriate mark on the body surface of the positioner R2 for each axis. Also,
If a sticker with a cross mark or the like is attached at an appropriate position on the body portion Bk driven by each axis, it is possible to cope with a case where an appropriate external characteristic point cannot be found.

When the reference point P0 and the tool tip point T1 are matched, the reference position P0 is taught to the robot R1. As a result, data (xp0, yp0, zp0) representing the position of the reference position P0 on the base coordinate system Σs of the robot R1 is stored in the controller 1.

Step S6: The tool tip point T1 of the robot R1 is temporarily retracted from the reference point P0, and the positioner R2 is moved.
Only the axis Jk of is rotated in the positive direction by an appropriate amount. The position of the reference point after the rotational movement is P1 (see FIG. 5). Then, similarly to step S5, the tool tip point T1 of the robot R1 is brought to the position P1 (see FIG. 5). In this state, the position P1 is taught to the robot R1. This allows
Coordinate value data (xp1,
yp1, zp1) is stored.

Step S7: Similar to step S6, the tool tip point T1 of the robot R1 is temporarily retracted from the position P1 and only the axis Jk of the positioner R2 is again rotated in the positive direction by an appropriate amount. The position of the reference point after the rotational movement is P2 (see FIG. 5). Then, the tool tip point T1 of the robot R1 is brought to the position P2. In this state, the position P2 is taught to the robot R1. As a result, the coordinate value data (xp2, yp2, zp2) of the position P2 on the base coordinate system Σs is stored.

Step S8: From the data representing the positions of the three points P0, P1 and P2 on the base coordinate system Σs of the robot R1, the position (position as a straight line) and the direction (for forward rotation) of the rotation axis Jk are determined. The direction in which the right screw advances, that is, the upward direction in the example of FIG. The position of the rotation axis Jk as a straight line is defined by the three points P0, P1,
It can be calculated as the central axis of an arc in a three-dimensional space that passes through P2. The direction can be determined as the direction of the cross product vector of the vector <P0 P1> and the vector <P1 P2>.

As described above, steps S4 → S5 → S6 → S7 →
S8 is a flow when the axis specified in step S2 is a rotation axis. It should be noted that at least three points are required to measure the position by the robot R1 as in this example, but four points or more can be set. In that case, the position of each axis is calculated using the method of least squares or the like.

Next, the flow when the axis designated in step S2 is a direct acting axis (step S4 'has already been described) will be described.

Step S5 ': The robot R1 is moved by jog feed, and the tool tip point T of the robot R1 is moved to the reference point Q0 designated at an appropriate position on the positioner R2.
Bring 1 (the tip of jig 30) (see Fig. 6). As in the case of the rotary shaft (see step S5), in principle, the position of the reference point Q0 is the body portion Bk of the positioner driven by the target direct-acting axis Jk (indicated by the broken line in FIG. 6). ) You can set it to the upper part. However, axis J
It should be noted that the position of k is taught to the robot R1 as a straight line passing through the reference point Q0. For example, when the outer surface of the body Bk that is driven by the linear motion axis Jk is a cylindrical surface, the linear motion axis Jk exists along the outer surface of the body Bk as shown in FIG. As a result, the robot R1 is taught.

As for the method of preparing the external characteristic points on the body Bk of the positioner R2, the same method as in the case of the rotary shaft (see step S5) can be used. When the reference point Q0 and the tool tip point T1 are matched, the reference position Q0 is taught to the robot R1. As a result, the data (xq0, yq0, zq0) representing the position of the reference position Q0 on the base coordinate system Σs is stored in the control device 1.

Step S6 ': The tool tip point T1 of the robot R1 is temporarily retracted from the reference point Q0, and the positioner R is moved.
Only the second axis Jk is translated in the positive direction by an appropriate amount. The position of the reference point after translational movement is Q1 (see FIG. 6). Then, similarly to step S5 ', the tool tip point T1 of the robot R1 is brought to the position Q1 (see FIG. 6). In this state, the position Q1 is taught to the robot R1. This allows
Coordinate value data (xq1, on the base coordinate system Σs of position Q1)
yq1, zq1) are stored.

Step S8 ': From the data representing the positions of the two points Q0 and Q1 on the base coordinate system of the robot R1,
The position (position as a straight line) and the direction of the linear motion axis Jk are obtained, and the result is stored in the memory 102. The position of the linear axis Jk as a straight line is determined by the two points Q0 taught by the robot R1,
It can be calculated as a straight line in a three-dimensional space that passes through Q1. The direction can be defined as the direction of the vector <Q0 Q1>.

As described above, steps S4 '→ S5' → S6 '→
S8 'is a flow when the axis designated in step S2 is a linear axis. It should be noted that at least two points are required to measure the position by using the robot R1 when Jk is a linear axis, but it is also possible to make three or more points. In that case, the position of each axis is calculated using the method of least squares or the like.

Step S9: Steps S4 → S5 above
→ S6 → S7 → S8 (when Jk is a rotating shaft) or steps S4 ′ → S5 ′ → S6 ′ → S8 ′ (when Jk is a direct acting shaft) n times (n is the positioner R2) (Total number of axes), k = 1, 2 ... k
= N, when step S9 is reached, all axes J1 ...
The data of the position and direction of Jn are acquired, and the robot R1 is taught.

When the teaching of all the axes is completed, the relative positions of the robot R1 and the positioner R2 are determined by using a part of the taught data. That is, the base coordinate system Σ of the positioner R2 with respect to the base coordinate system Σs of the robot R1.
The relative position of m is determined (step S10).

Then, in step S11, the offset amount between the axes is obtained, stored in the memory 102, and the calibration is completed. As described above, the data acquired by the calibration is used for controlling the robot R1 and the positioner R2 in the cooperative operation. Hereinafter, the processing procedure of steps S10 and S11 will be described with reference to FIGS. 7, 8 (step S10), FIG. 9, and FIG.
The outline will be described with reference to 0 (step S11). 7 and 9 are flow charts showing steps, and FIGS. 8 and 10 are schematic diagrams for explaining a processing procedure.

[Determination of R1 and R2 Relative Positions] Step S10-1: + Z in Step S4 or Step S4 '
The origin Om of the coordinate system Σm is specified on the J1 axis which is the axis in which the axis direction is specified. The origin Om can be any point on the J1 axis whose position as a straight line has already been obtained. For example, the origin O of the base coordinate system Σs of the robot R1
The origin Om of the coordinate system Σm can be set by dropping a perpendicular line from s to the J1 axis. Data representing the position of the origin Om on the coordinate system Σs is stored in the memory 102.

Step S10-2: From the origin Om, the X axis of the coordinate system Σm is defined in parallel with the same direction as J2 which is the axis for which the + X axis direction is designated in step S4 or step S4 '. Since the position and orientation of the axis J2 as its straight line have already been determined, the direction of this X axis can be determined by a simple calculation.

Step S10-3: Step S10-1
And the direction of the Y-axis forming the right-handed coordinate system together with the Z-axis and the X-axis determined in step S10-2 is uniquely determined. Therefore, this is calculated from the outer product representing the directions of the Z-axis and the X-axis. The Y axis is used. As a result, the base coordinate system Σm of the positioner R2 is fixed. The data of the coordinate system Σm is stored in the memory 102 in the form of data of a matrix G representing the relative position / orientation relationship between the robot R1 and the positioner R2.

[Calculation of Offset Amount Between Each Axis] Step S11-1: Processing is started with the axis number index k = 2, and first, the perpendicular line Lk is lowered from Mk-1 to the axis Jk, and the axis J
Find the position of the intersection Mk with k. Mk is a point that is sequentially determined by the algorithm of FIG. 9, and M1 = Om.

Step S11-2: From the point Mk to the axis Jk-1
The perpendicular line L'k is lowered to the position of the intersection M'k with the axis Jk-1.

Step S11-3: The offset amount Δ between Jk-1 and Jk is obtained using the data of the positions of the points Mk and M'k. Here, Δ generally has two components. For example, when k = 2, as shown in FIG. 10 (1), the Y component ΔY and the Z component ΔZ correspond to the fact that the J2 axis is parallel to the X axis and the J1 axis is parallel to the Z axis in the basic posture. Is required. The Y component is calculated by ΔY = (Y coordinate value of M2−Y coordinate value of M′2). Further, the Z component is calculated by .DELTA.Z = (Z coordinate value of M'2 -l1). Where l1 is the Z of the first axis
It is an amount that specifies the position on the coordinate axis by the distance from the origin Om. If the value of l1 changes, the value of ΔZ also changes, but when calculating the position of the tool tip point of the positioner R2, ΔZ + l
Since the value of 1 (regardless of how to take the value of l1) is important, l1
An appropriate value can be used for the value of.

As a case of k ≧ 3, FIG. 10B shows the case where the Jk axis is parallel to the Y axis and the Jk-1 axis is parallel to the X axis in the basic posture. In this case, the Z component is ΔZ =
(Z coordinate value of Mk-Z coordinate value of M'k). The X component is calculated by ΔX = (X coordinate value of M′k−X coordinate value of Mk−1).

Steps S11-4 to S11-5: If the above process is executed for k = 2, 3, ...
All data of the offset amount between 1 J2, J2 J3, ... Jn-1 Jn are acquired and stored in the memory 102.

Although one embodiment has been described above,
There are many degrees of freedom in selection of the basic posture in the direction designation of the coordinate axes designated in steps S4 and 4 '. For example, J1 axis is ± X axis, J2 perpendicular to J1 axis is ±
It can be the Y axis. Also, as a special case,
When all axes are parallel in the basic posture, the direction is specified as ± X, ± Y, or ± Z, and the remaining two coordinate axes are perpendicular to each other in the plane perpendicular to each axis. Two directions can be specified separately.

[0059]

Since the measured data of the relative position between the robot and the positioner and the offset amount between each axis of the positioner is obtained by a simple method using the robot, it is easy to improve the accuracy of the coordinated operation of the positioner and the robot. Become. In addition, it becomes easier to use the positioner and the robot in the cooperative use mode.

[Brief description of drawings]

FIG. 1 is a diagram schematically showing a general positional relationship between a robot performing a coordinated operation and a positioner.

2 is a block diagram of a main part showing an outline of a configuration of a control device of a robot-positioner system shown in FIG.

FIG. 3 is a flowchart illustrating a processing procedure in an embodiment.

FIG. 4 is a schematic view showing a state in a basic posture of the J1 axis to the J3 axis in the embodiment, (1) shows the J1 axis and the J2 axis.
The case where the shaft and the J3 axis are all rotary shafts is illustrated, and (2) illustrates the case where the J1 shaft is the direct acting shaft and the J2 shaft and the J3 shaft are rotary shafts.

FIG. 5 is a schematic diagram illustrating a procedure for obtaining the position and direction of the rotation axis of the positioner R2 using the robot R1.

FIG. 6 is a schematic diagram illustrating a procedure for obtaining the position and direction of a linear movement axis of a positioner R2 using the robot R1.

FIG. 7 is a flowchart outlining the processing contents of step S10 in the flowchart shown in FIG.

FIG. 8 is a schematic diagram for explaining processing contents of the flowchart shown in FIG.

FIG. 9 is a flowchart outlining the processing contents of step S11 in the flowchart shown in FIG.

FIG. 10 is a schematic diagram for explaining processing contents of the flowchart shown in FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 control device 3, 4 mechanism part 11, 12, 13, 21, 22, 23 joint 30 jig 101 central processing unit (main CPU) 102 memory 103 teaching operation panel interface 104 teaching operation panel 106 external input / output interface 107 Bus F Matrix representing the relationship between the positioner and the robot's tool tip point G G Matrix representing the relationship between the positioner and the robot's base coordinate system Hm Positioner hand (master arm) Hs Robot hand (slave arm) R1 Robot R2 Positioner T1 Robot tool tip Point T2 Positioner tool tip point Σm Positioner base coordinate system Σs Robot base coordinate system

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Claims (2)

[Claims] 1. A base coordinate system set in the positioner for each of the designated axes, the step of causing a positioner that performs a coordinated movement with a robot to assume a basic posture, the step of sequentially designating the axis numbers of the positioner. Specifying the relationship with the direction of the coordinate axis of the, the step of specifying a reference point on the positioner in relation to the specified axis, and the reference point position before and after the movement of the reference point with respect to the specified axis. A positioner calibration method comprising: teaching a robot; and setting a base coordinate system in the positioner based on the taught data, and calculating an offset amount between each axis of the positioner. 2. In the basic posture, the first axis and the second axis of the positioner are in a vertical relationship, and one coordinate axis of the base coordinate system is set so as to overlap with the first axis, and another one is set. 2. The positioner calibration method according to claim 1, wherein one coordinate axis is set parallel to the second axis.