JPS6487181A - Method and defice for correcting deviation of position of multi-joint robot - Google Patents

Method and defice for correcting deviation of position of multi-joint robot

Info

Publication number
JPS6487181A
JPS6487181A JP23751787A JP23751787A JPS6487181A JP S6487181 A JPS6487181 A JP S6487181A JP 23751787 A JP23751787 A JP 23751787A JP 23751787 A JP23751787 A JP 23751787A JP S6487181 A JPS6487181 A JP S6487181A
Authority
JP
Japan
Prior art keywords
robot
tip
reference point
rotational angular
gauge
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
JP23751787A
Other languages
Japanese (ja)
Other versions
JP2564143B2 (en
Inventor
Makoto Tonai
Masao Kawase
Makoto Asada
Yasuo Ishiguro
Kaneo Ito
Seiichiro Miyajima
Tetsuji Okino
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.)
Toyota Motor Corp
Toyoda Koki KK
Original Assignee
Toyota Motor Corp
Toyoda Koki KK
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 Toyota Motor Corp, Toyoda Koki KK filed Critical Toyota Motor Corp
Priority to JP62237517A priority Critical patent/JP2564143B2/en
Publication of JPS6487181A publication Critical patent/JPS6487181A/en
Application granted granted Critical
Publication of JP2564143B2 publication Critical patent/JP2564143B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Landscapes

  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

PURPOSE: To correct an axial deflection of a robot accurately in a short time using a small number of components by locating the tip of a needle-shaped projection identical to the reference point on the stationary side, setting a gauge in this condition horizontally, and storing the positions of the robot about the different axes. CONSTITUTION: When a robot is in an axial deflection, a plate 22 of a gauge 21 uis inclined, and the tip of a needle-shaped projection 23 is deviated from the reference point. Drive motors for different axes are actuated from a robot controller 14 so that the tip of the projection 23 is positioned identical to the reference point. In this condition, the controller 14 is operated to adjust the rotational angular positions of the drive motors, and the plate 22 of the gauge 21 is set horizontally. The rotational angular position of the drive motor for each axis when the plate 22 lies horizontally and the tip of the projection 23 is positioned identical to the reference point is stored in the controller 14. At the same time, the original rotational angular position is stored, and thereafter the position control of the robot is conducted by using the difference between these rotational angular positions as the corrective value and the axial deflection is corrected.
JP62237517A 1987-09-24 1987-09-24 Method and apparatus for correcting position deviation of articulated robot Expired - Fee Related JP2564143B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP62237517A JP2564143B2 (en) 1987-09-24 1987-09-24 Method and apparatus for correcting position deviation of articulated robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62237517A JP2564143B2 (en) 1987-09-24 1987-09-24 Method and apparatus for correcting position deviation of articulated robot

Publications (2)

Publication Number Publication Date
JPS6487181A true JPS6487181A (en) 1989-03-31
JP2564143B2 JP2564143B2 (en) 1996-12-18

Family

ID=17016497

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62237517A Expired - Fee Related JP2564143B2 (en) 1987-09-24 1987-09-24 Method and apparatus for correcting position deviation of articulated robot

Country Status (1)

Country Link
JP (1) JP2564143B2 (en)

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS52117238A (en) * 1976-03-29 1977-10-01 Suzuki Motor Co Method of washing metal plated articles

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS52117238A (en) * 1976-03-29 1977-10-01 Suzuki Motor Co Method of washing metal plated articles

Also Published As

Publication number Publication date
JP2564143B2 (en) 1996-12-18

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Legal Events

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