Corrective positioning method in a robot

Details Corrective positioning method in a robot Corrective positioning method in a robot

B - Operations, Transporting

25

J

341/97

B25J 9/10 (2006.01) B25J 9/16 (2006.01) B25J 13/00 (2006.01) G05D 13/12 (2006.01)

Patent

CA 2022988

A B S T R A C T A corrective positioning method in a robot, capable of eliminating degraded positioning accuracy attributable to inherent errors in the robot. By using displayed rotary angles of first and second links (1, 2) determined by a mastering sequence associated with known points, a simultaneous equation including, as unknowns, link length errors (.DELTA.11, .DELTA.12) and actual rotary angles (.theta.1, .theta.2) of the links is solved, to thereby determine the link length errors, errors (.DELTA.xO, .DELTA.yO) of a pivotal center position of an arm, and errors (.DELTA..theta.10, .DELTA..theta.20) of rotary angles of the links. During a robot operation, X-axis and Y-axis target moving positions of a distal end of the arm, which are specified by a program, are corrected by using the pivotal center position error, and the actual link lengths are calculated by using the link length errors, and further rotary angles of servomotors respectively associated with the first and second links are determined by a coordinate conversion process performed on the basis of the corrected moving positions, the actual link lengths and the link rotary angle errors.

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