TEACHING LINE CORRECTING APPARATUS, TEACHING LINE CORRECTING METHOD, AND PROGRAM THEREOF

• US 20110118876A1
• Filed: 11/08/2010
• Published: 05/19/2011
• Est. Priority Date: 11/18/2009
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: HAYAMA, Hironobu, Takebe, Masashi, Murakami, Shinya, Hariya, Yutaka, Eto, Naoki
• Granted Patent: US 8,761,936 B2
• Time in Patent Office: Days
• US Class Current: 700/251
• CPC Class Codes: B25J 9/1656 characterised by programming, planning systems for manipulators
• CPC Class Codes: G05B 2219/40385 Compare offline teached point with online teached point, modify rest as function of error

Abstract

A teaching line correcting apparatus defines a first plane, which is determined by a first reference position of a preset first reference region, a second reference position of a preset second reference region, and a third reference position of a preset third reference region, defines a second plane, which is determined by a detected position of the first reference region, a detected position of the second reference region, and a detected position of the third reference region, calculates a corrective value for equalizing the first reference region to an origin, equalizing the first reference position of the first reference region as the origin to the detected position of the first reference region as the origin, and equalizing the first plane to the second plane, and correcting reference coordinates where operating points are taught based on the calculated corrective value.

Claims

1. A teaching line correcting apparatus for correcting a teaching line, which is identified by a first reference region and a second reference region, and which is indicative of movement of a robot, comprising:

a position setting unit for setting a first reference position, a second reference position, and a third reference position where a first reference region, a second reference region, and a third reference region are established on a workpiece;

a first plane defining unit for defining a first plane, which includes a line passing through the first reference position that is located at a starting operation point of the robot or within a given range from the starting operation point, and the second reference position, which is located at an ending operation point of the robot or within a given range from the ending operation point, and which is determined by the third reference position;

at least one position detector for detecting positions of the first reference region, the second reference region, and the third reference region established on the workpiece;

a second plane defining unit for defining a second plane, which includes a line passing through the detected position of the first reference region and the detected position of the second reference region, and which is determined by the detected position of the third reference region;

a corrective value calculator for calculating a corrective value for equalizing the first reference region to an origin, equalizing the first reference position of the first reference region as the origin to the detected position of the first reference region as the origin, and equalizing the first plane to the second plane; and

a teaching line corrector for correcting the teaching line based on the calculated corrective value.

2. A teaching line correcting apparatus according to claim 1, wherein if the position detector fails to detect any one of the first reference region, the second reference region, or the third reference region, the second plane defining unit defines, as the second plane, a plane that includes a line passing through a position closest to the first reference region and a position closest to the second reference region, out of the detected positions of the remaining two reference regions, and which is determined by an undetected position of the reference region that has been set by the position setting unit;

and

the corrective value calculator calculates a corrective value for equalizing the reference region closest to the first reference region to the origin, equalizing the reference position of the reference region as the origin to the detected position of the reference region as the origin, and equalizing the first plane to the second plane.

3. A teaching line correcting apparatus according to claim 1, wherein the workpiece comprises an automobile body made up of a plurality of panels;

and

the position setting unit sets two of the first reference position, the second reference position, and the third reference position on one of the panels.

4. A teaching line correcting apparatus according to claim 1, wherein the second reference position set by the position setting unit is located at an end of the workpiece.

5. A teaching line correcting apparatus according to claim 1, wherein at least one of the position detector, the corrective value calculator, and the teaching line corrector is included in the robot.

6. A teaching line correcting apparatus according to claim 1, wherein the position detector comprises a photoelectric transducer.

7. A teaching line correcting method for correcting a teaching line, which is identified by a first reference region and a second reference region, and which is indicative of movement of a robot, comprising the steps of:

presetting a first reference position, a second reference position, and a third reference position where a first reference region, a second reference region, and a third reference region are established on a workpiece;

defining a first plane, which includes a line passing through the first reference position that is located at a starting operation point of the robot or within a given range from the starting operation point and the second reference position that is located at an ending operation point of the robot or within a given range from the ending operation point, and which is determined by the third reference position;

detecting positions of the first reference region, the second reference region, and the third reference region established on the workpiece;

defining a second plane, which includes a line passing through the detected position of the first reference region and the detected position of the second reference region, and which is determined by the detected position of the third reference region;

calculating a corrective value for equalizing the first reference region to an origin, equalizing the first reference position of the first reference region as the origin to the detected position of the first reference region as the origin, and equalizing the first plane to the second plane; and

correcting the teaching line based on the calculated corrective value.

8. A program for enabling a computer to function as a teaching line correcting apparatus for correcting a teaching line, which is identified by a first reference region and a second reference region, and which is indicative of movement of a robot, the program further enabling the computer to function as:

a position setting unit for presetting a first reference position, a second reference position, and a third reference position where a first reference region, a second reference region, and a third reference region are established on a workpiece;

a first plane defining unit for defining a first plane, which includes a line passing through the first reference position that is located at a starting operation point of the robot or within a given range from the starting operation point and the second reference position that is located at an ending operation point of the robot or within a given range from the ending operation point, and which is determined by the third reference position;

at least one position detector for detecting positions of the first reference region, the second reference region, and the third reference region established on the workpiece;

a second plane defining unit for defining a second plane, which includes a line passing through the detected position of the first reference region and the detected position of the second reference region, and which is determined by the detected position of the third reference region;

a corrective value calculator for calculating a corrective value for equalizing the first reference region to an origin, equalizing the first reference position of the first reference region as the origin to the detected position of the first reference region as the origin, and equalizing the first plane to the second plane; and

a teaching line corrector for correcting the teaching line based on the calculated corrective value.