Teaching position correcting apparatus and teaching position correction method

Teaching position correcting apparatus and teaching position correction method

  • CN 101,036,984 B
  • Filed: 03/09/2007
  • Issued: 05/15/2013
  • Est. Priority Date: 03/13/2006
  • Status: Active Grant
First Claim
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1. teaching position correcting apparatus, it is revised a plurality of taught points position in the operation program of robot, has:

  • When described robot is moved to a plurality of taught points each, obtain the current location of the described robot in each of this a plurality of taught points, when thus a plurality of taught points position in described operation program being revised,According to the taught point position before the revised taught point position revised in described a plurality of taught points positions and the correction corresponding with these revised taught points positions, when carrying out the correction of one or more taught points at every turn, taught point evolution before calculating will be revised is that revised taught point is the position, correction matrix that have composition in rotary moving and parallel composition, perhaps in the time that described correction matrix can not be calculated, calculate the correction matrix computing unit that the correction matrix that only has the parallel composition replaces;

    According to the correction matrix that is calculated by described correction matrix computing unit, position calculation unit after the correction that the position after the still correction of uncorrected not correcting taught point position in described a plurality of taught points is calculated;

    AndWhen described robot is moved to described not correcting taught point, described robot is moved to the mobile unit of the position after the correction of the described not correcting taught point position of being calculated by position calculation unit after described correction.

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