CALCULATING METHOD OF REFERENCE POSITION OF JOINTED ROBOT

PURPOSE:To calculate a reference position inexpensively with a high precision by moving the hand of a jointed robot to the same position in right-arm and left-arm attitudes and operating an additive average of respective moving angles in consideration of moving directions. CONSTITUTION:Arms 3 and 4...

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Bibliographic Details
Main Author KIUCHI TETSUO
Format Patent
LanguageEnglish
Published 31.08.1985
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
CONTROL OR REGULATING SYSTEMS IN GENERAL
CONTROLLING
FUNCTIONAL ELEMENTS OF SUCH SYSTEMS
HAND TOOLS
MANIPULATORS
MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS
PERFORMING OPERATIONS
PHYSICS
PORTABLE POWER-DRIVEN TOOLS
REGULATING
TRANSPORTING
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Summary:PURPOSE:To calculate a reference position inexpensively with a high precision by moving the hand of a jointed robot to the same position in right-arm and left-arm attitudes and operating an additive average of respective moving angles in consideration of moving directions. CONSTITUTION:Arms 3 and 4 are set to a right-arm attitude as shown by solid lines, and the arm 3 is turned at a prescribed angle, and the arm 4 is moved to a reference point P, and a turning angle phiA is detected by a position sensor and is stored in a memory 6. Next, arms 3 and 4 are set to a left-arm attitude as shown by broken lines, and the arm 3 is turned is the reverse direction at the same angle as a time corresponding to the turning angle of the right arm, and the arm 4 is moved to the reference point, and a turning angle phiB is detected and is stored in a memory 7. An arithmetic unit 8 operates an additive average (phiA+phiB)/2 in consideration of directivities of contents in memories 6 and 7 to calculate a deviation quantity of the arm 4 from a reference axis Z with a high precision.
Bibliography:Application Number: JP19840021923