JPS6249405A - Teaching method for robot - Google Patents

Teaching method for robot

Info

Publication number
JPS6249405A
JPS6249405A JP18920285A JP18920285A JPS6249405A JP S6249405 A JPS6249405 A JP S6249405A JP 18920285 A JP18920285 A JP 18920285A JP 18920285 A JP18920285 A JP 18920285A JP S6249405 A JPS6249405 A JP S6249405A
Authority
JP
Japan
Prior art keywords
hand
robot
coordinate
tip
work
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.)
Pending
Application number
JP18920285A
Other languages
Japanese (ja)
Inventor
Kenji Ishibashi
Original Assignee
Nissan Motor Co 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 Nissan Motor Co Ltd filed Critical Nissan Motor Co Ltd
Priority to JP18920285A priority Critical patent/JPS6249405A/en
Publication of JPS6249405A publication Critical patent/JPS6249405A/en
Pending legal-status Critical Current

Links

Abstract

PURPOSE: To easily determine with a high accuracy a position and an attitude of a robot hand to a work in a short time by installing a distance detecting unit having at least three pieces of distance sensors to a hand tip part of a robot, and thereafter, correcting and teaching a position data which has been seen from a robot coordinate system of the hand tip part.
CONSTITUTION: A position of a tip part of a hand 3, which has been seen from a robot coordinate system based on a base part of a robot 1 as a reference is derived from turning angle data θ1Wθ6 of each joint in a state that positioning of the hand 3 to the surface of a work 18 has been ended. Next, a correlation of a robot coordinate system, and a hand coordinate system based on the hand tip part as a reference is derived, and a correction processing for converting the hand coordinate system to a coordinate system in which an electrode holder 3a becomes vertical to the surface of the work 18 is executed. Also, a systhesis mis-processing is executed for deriving turning angles θ'1Wθ'6 of each joint 2aW2f for realizing a correlation of the corrected hand coordinate system by which the electrode holder 3a becomes vertical and the robot coordinate system, and also the turning angles θ'1Wθ'6 are replaced with θ1Wθ6, and an attitude and a position of the hand 3 are taught to a robot control device.
COPYRIGHT: (C)1987,JPO&Japio
JP18920285A 1985-08-28 1985-08-28 Teaching method for robot Pending JPS6249405A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP18920285A JPS6249405A (en) 1985-08-28 1985-08-28 Teaching method for robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP18920285A JPS6249405A (en) 1985-08-28 1985-08-28 Teaching method for robot

Publications (1)

Publication Number Publication Date
JPS6249405A true JPS6249405A (en) 1987-03-04

Family

ID=16237232

Family Applications (1)

Application Number Title Priority Date Filing Date
JP18920285A Pending JPS6249405A (en) 1985-08-28 1985-08-28 Teaching method for robot

Country Status (1)

Country Link
JP (1) JPS6249405A (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02303793A (en) * 1989-05-19 1990-12-17 Tokico Ltd Operation detector for robot
JPH03166086A (en) * 1989-11-27 1991-07-18 Fanuc Ltd Touch-up
JPH03281187A (en) * 1990-03-28 1991-12-11 Mitsubishi Electric Corp Work position detecting device
JPH04146043A (en) * 1990-10-08 1992-05-20 Toshiba Corp Nc control device for three dimensional surface cutting machine
US9690427B2 (en) 2014-09-03 2017-06-27 Panasonic Intellectual Property Management Co., Ltd. User interface device, and projector device

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02303793A (en) * 1989-05-19 1990-12-17 Tokico Ltd Operation detector for robot
JPH03166086A (en) * 1989-11-27 1991-07-18 Fanuc Ltd Touch-up
JPH03281187A (en) * 1990-03-28 1991-12-11 Mitsubishi Electric Corp Work position detecting device
JPH04146043A (en) * 1990-10-08 1992-05-20 Toshiba Corp Nc control device for three dimensional surface cutting machine
US9690427B2 (en) 2014-09-03 2017-06-27 Panasonic Intellectual Property Management Co., Ltd. User interface device, and projector device

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