TOOL CENTER POINT ESTIMATION METHOD AND TOOL CENTER POINT ESTIMATION DEVICE

PROBLEM TO BE SOLVED: To provide a tool center point estimation method which can easily obtain an estimation formula for estimating a tool center point without using a jig, and a tool center point estimation device.SOLUTION: A workpiece position which indicates a position of a workpiece existing wit...

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Bibliographic Details
Main Author TAKADA TOSHIYUKI
Format Patent
LanguageEnglish
Japanese
Published 20.04.2017
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:PROBLEM TO BE SOLVED: To provide a tool center point estimation method which can easily obtain an estimation formula for estimating a tool center point without using a jig, and a tool center point estimation device.SOLUTION: A workpiece position which indicates a position of a workpiece existing within a moving range of a tool, and a motion position which indicates a position of the tool when a robot is moved by a manual operation to the workpiece which is set in the workpiece position are obtained a plurality of times, an error component being a factor of displacement between the workpiece position and the motion position is calculated on the basis of the workpiece positions and the motion positions which are obtained a plurality of times, and an estimation formula for estimating a tool center point corresponding to the position of the tool is acquired on the basis of the calculated error component.SELECTED DRAWING: Figure 6 【課題】治具を用いることなく、且つ、容易にツールセンターポイントを推定するための推定式を求めることができるツールセンターポイント推定方法、ツールセンターポイント推定装置を提供する。【解決手段】ツールの移動範囲内に存在するワークの位置を示すワーク位置と、当該ワーク位置を設定したワークに対してロボットをマニュアル操作により動作させた際のツールの位置を示す動作位置とを複数回取得し、取得した複数回分のワーク位置と動作位置とに基づいて、ワーク位置と動作位置とのずれの要因となる誤差成分を算出し、算出した誤差成分に基づいて、ツールの位置に対応したツールセンターポイントを推定する推定式を求める。【選択図】図６
Bibliography:Application Number: JP20150202840