JPS642104A - Method for correcting positioning error of robot - Google Patents

Method for correcting positioning error of robot

Info

Publication number
JPS642104A
JPS642104A JP15647587A JP15647587A JPS642104A JP S642104 A JPS642104 A JP S642104A JP 15647587 A JP15647587 A JP 15647587A JP 15647587 A JP15647587 A JP 15647587A JP S642104 A JPS642104 A JP S642104A
Authority
JP
Japan
Prior art keywords
robot
position information
relational equation
value
cad
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.)
Granted
Application number
JP15647587A
Other languages
Japanese (ja)
Other versions
JPH012104A (en
JPH0774964B2 (en
Inventor
Masakuni Inoko
Kunihiko Hotta
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
JFE Engineering Corp
Original Assignee
NKK Corp
Nippon Kokan 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 NKK Corp, Nippon Kokan Ltd filed Critical NKK Corp
Priority to JP62156475A priority Critical patent/JPH0774964B2/en
Publication of JPH012104A publication Critical patent/JPH012104A/en
Publication of JPS642104A publication Critical patent/JPS642104A/en
Publication of JPH0774964B2 publication Critical patent/JPH0774964B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Landscapes

  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE: To improve the accuracy of absolute positioning without using the detection value of a detector in the inside of a robot, by calculating the origin error of each axis of the robot based on the measuring value of a relative position, and correcting the accuracy of positioning based on a calculated value.
CONSTITUTION: The position of respective arrival point is measured by a three- dimensional measuring instrument according to the movement of the finger tip position of the robot 4 in order, and it is sent from an input device 5 to a post processor 3. Simultaneously, the position information of each instruction point is sent from a storage means 31 where the position information of each instructed point on a CAD/CAM system 1 is stored to a micro relational equation calculation means 32, and a macro relational equation is calculated by the micro relational equation calculation means 32 based on those position information, and the origin error can be found by solving the macro relational equation by an arithmetic means 33. In such a way, it is possible to correct an absolute positioning error based on only the relative position information of several points in the robot being operated by a position and posture from the CAD/CAM system, etc., or the angle command value of each axis without using a sensor in the inside of the robot.
COPYRIGHT: (C)1989,JPO&Japio
JP62156475A 1987-06-25 1987-06-25 Robot positioning error correction method Expired - Lifetime JPH0774964B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP62156475A JPH0774964B2 (en) 1987-06-25 1987-06-25 Robot positioning error correction method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62156475A JPH0774964B2 (en) 1987-06-25 1987-06-25 Robot positioning error correction method

Publications (3)

Publication Number Publication Date
JPH012104A JPH012104A (en) 1989-01-06
JPS642104A true JPS642104A (en) 1989-01-06
JPH0774964B2 JPH0774964B2 (en) 1995-08-09

Family

ID=15628565

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62156475A Expired - Lifetime JPH0774964B2 (en) 1987-06-25 1987-06-25 Robot positioning error correction method

Country Status (1)

Country Link
JP (1) JPH0774964B2 (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011128114A (en) * 2009-12-21 2011-06-30 Kawasaki Heavy Ind Ltd Method, apparatus for measuring tool dimension and robot having the same
JP2011183535A (en) * 2010-03-11 2011-09-22 Shinmaywa Industries Ltd Device and method for correcting teaching point
JP2011224672A (en) * 2010-04-15 2011-11-10 Kobe Steel Ltd Deriving method and calibration method for tool vector of robot
JP2014139577A (en) * 2014-03-12 2014-07-31 Kawasaki Heavy Ind Ltd Method for measuring tool dimension, device for measuring tool dimension and robot having measurement device thereof
CN108369092A (en) * 2015-10-15 2018-08-03 微观调控物理光谱公司 Method and system for the trueness error for compensating six sufficient instrument
CN113226664A (en) * 2018-12-27 2021-08-06 川崎重工业株式会社 Robot position correction method and robot
WO2023013739A1 (en) * 2021-08-04 2023-02-09 京セラ株式会社 Robot control device, robot control system, and robot control method

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5721295A (en) * 1980-06-30 1982-02-03 Ibm Method of correcting robot
JPS6069706A (en) * 1983-09-26 1985-04-20 Fujitsu Ltd Calibrating method of robot coordinate system
JPS60128506A (en) * 1983-12-16 1985-07-09 Fujitsu Ltd Calibrating method of robot coordinate system
JPS62126404A (en) * 1985-11-27 1987-06-08 Agency Of Ind Science & Technol Calibration device for manipulator

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5721295A (en) * 1980-06-30 1982-02-03 Ibm Method of correcting robot
JPS6069706A (en) * 1983-09-26 1985-04-20 Fujitsu Ltd Calibrating method of robot coordinate system
JPS60128506A (en) * 1983-12-16 1985-07-09 Fujitsu Ltd Calibrating method of robot coordinate system
JPS62126404A (en) * 1985-11-27 1987-06-08 Agency Of Ind Science & Technol Calibration device for manipulator

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011128114A (en) * 2009-12-21 2011-06-30 Kawasaki Heavy Ind Ltd Method, apparatus for measuring tool dimension and robot having the same
JP2011183535A (en) * 2010-03-11 2011-09-22 Shinmaywa Industries Ltd Device and method for correcting teaching point
JP2011224672A (en) * 2010-04-15 2011-11-10 Kobe Steel Ltd Deriving method and calibration method for tool vector of robot
JP2014139577A (en) * 2014-03-12 2014-07-31 Kawasaki Heavy Ind Ltd Method for measuring tool dimension, device for measuring tool dimension and robot having measurement device thereof
CN108369092A (en) * 2015-10-15 2018-08-03 微观调控物理光谱公司 Method and system for the trueness error for compensating six sufficient instrument
CN113226664A (en) * 2018-12-27 2021-08-06 川崎重工业株式会社 Robot position correction method and robot
CN113226664B (en) * 2018-12-27 2024-01-09 川崎重工业株式会社 Robot position correction method and robot
WO2023013739A1 (en) * 2021-08-04 2023-02-09 京セラ株式会社 Robot control device, robot control system, and robot control method

Also Published As

Publication number Publication date
JPH0774964B2 (en) 1995-08-09

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