Method of correcting a position of a tool center point
US5451850A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | May 24, 1993 |
| Grant date | Sep 19, 1995 |
| Priority date | — |
| Expiry date | May 24, 2013 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45083
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
There is provided a method of correcting a position of a tool center point position of lightweight tools such as a welding gun, grinder or the like, and readily handling and controlling robot manipulation programs. Data indicating the relationship between robot manipulation time and a change amount of the tool center point are previously stored in memory, and an accumulated working time is read when moving the tool center point to a moving target position. Thus, the changed position of the tool center point is determined based on the data stored in the memory. The moving target position of the tool center point is corrected on the basis of the changed amount. Thus, the tool center point is aligned with the moving target position. Accordingly, the position of the tool center point is corrected in accordance with the change amount, and various works are accurately performed relative to the moving target position on a workpiece. Therefore, a spring mechanism required in the prior art is eliminated. In addition, a plurality of robot manipulation programs can be reduced to a single program.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.