Method of setting a second robots coordinate system based on a first robots coordinate system

• US 5,333,242 A
• Filed: 07/14/1992
• Issued: 07/26/1994
• Est. Priority Date: 11/16/1990
• Status: Expired due to Term

• Current Assignee: Fanuc Ltd (Fanuc Corporation)
• Original Assignee: Fanuc Ltd (Fanuc Corporation)
• Inventors: Warashina, Fumikazu, Terawaki, Fumikazu, Watanabe, Atsushi
• Primary Examiner(s): MacDonald, Allen R.
• Application Number:
  US07/910,171
• Time in Patent Office: 742 Days
• Field of Search: 395/83, 395/86, 395/89
• US Class Current: 700/254
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G05B 19/4086 Coordinate conversions; Other special calculations
• CPC Class Codes: G05B 2219/39399 Convert position of old, teach to new, changed, actual tool by transform matrix

Abstract

A robot coordinate system setting method is provided which facilitates the setting of a common coordinate system with respect to each of robots in a robot system or a robot installed in substitution for one of the robots. A coordinate transformation matrix for transforming a provisional coordinate system (X2Y2Z2), which a first robot has recognized by accessing a second jig, into a common coordinate system (X1Y1Z1), which the first robot has recognized by accessing a first jig, is calculated, and using this coordinate transformation matrix, a provisional coordinate system which a second robot has recognized by accessing the second jig is transformed into the common coordinate system which is to be recognized by the second robot, and is set with respect to the second robot. If a robot is installed in substitution for the second robot, method similar to the above is used to obtain a second provisional coordinate system, which the substitute robot has recognized by accessing the third jig, and is transformed into the common coordinate system which is to be recognized by the substitute robot, whereby the common coordinate system is set with respect to the substitute robot.

Claims

1. A method of setting a robot coordinate system, comprising the steps of:

(a) placing a first jig at a first position directly accessible by a first robot;

(b) setting a first robot common coordinate system by accessing said first jig using said first robot;

(c) placing a second jig at a second position directly accessible by both said first robot and a second robot which cannot directly access said first jig;

(d) setting a first robot first provisional coordinate system by directly accessing said second jig using said first robot;

(e) calculating, using a computing device, a first coordinate transformation matrix for transforming said first robot first provisional coordinate system into said first robot common coordinate system;

(f) setting a second robot first provisional coordinate system by directly accessing said second jig using said second robot;

(g) calculating, using said computing device, a second robot common coordinate system based on said second robot first provisional coordinate system and said first coordinate transformation matrix; and

(h) setting said second robot common coordinate system with respect to said second robot.

2. The method according to claim 1, further comprising the steps of:

(i) replacing said second robot with a third robot;

(j) placing a third jig at a third position directly accessible by both said first and third robots;

(k) setting a first robot second provisional coordinate system by directly accessing said third jig using said first robot;

(l) calculating, using said computing device, a second coordinate transformation matrix for transforming said first robot second provisional coordinate system into said first robot common coordinate system;

(m) setting a third robot second provisional coordinate system by directly accessing said third jig using said third robot;

(n) calculating, using said computing device, a third robot common coordinate system based on said third robot second provisional coordinate system and said second coordinate transformation matrix; and

(o) setting said third robot common coordinate system with respect to said third robot.