JPS649504A - Position correcting system for articulated robot - Google Patents

Position correcting system for articulated robot

Info

Publication number
JPS649504A
JPS649504A JP16404187A JP16404187A JPS649504A JP S649504 A JPS649504 A JP S649504A JP 16404187 A JP16404187 A JP 16404187A JP 16404187 A JP16404187 A JP 16404187A JP S649504 A JPS649504 A JP S649504A
Authority
JP
Japan
Prior art keywords
rotation
robot
angle
deviation
arms
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP16404187A
Other languages
Japanese (ja)
Other versions
JP2811177B2 (en
Inventor
Kenichi Toyoda
Nobutoshi Torii
Susumu Ito
Masayuki Hamura
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to JP62164041A priority Critical patent/JP2811177B2/en
Publication of JPS649504A publication Critical patent/JPS649504A/en
Application granted granted Critical
Publication of JP2811177B2 publication Critical patent/JP2811177B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Landscapes

  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE:To correctly position the end of an arm, namely a wrist part to an operating point by correcting an error to the generation of the error due to the dislocation of the operating point actually operated by a robot from a target point commanded to the robot according to the influence of a gravity. CONSTITUTION:In an articulated robot, the quantity of position deviation of the position P1 of the end of the second arm to a command position is obtained, the coefficient of a function for obtaining the quantity of deviation DELTAW, DELTAU of the actual angle of rotation of the first and the second arms 9, 12 is obtained to the command angle of rotation W, U of the first and the second arms 9, 12 from the quantity of a position error and the coefficient is set to the control part of the robot. The robot obtains the quantity of deviation DELTAW, DELTAU by the function to the angle of rotation W, U of the position commanded according to the set coefficient. The quantity of the position deviation is corrected to the commanded angle of rotation to rotate the motor of a shaft for driving the first and the second arms 9, 12 by the corrected angle of rotation thereby, the wrist part can be correctly positioned to the operating point.
JP62164041A 1987-07-02 1987-07-02 Position correction method for articulated robots Expired - Fee Related JP2811177B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP62164041A JP2811177B2 (en) 1987-07-02 1987-07-02 Position correction method for articulated robots

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62164041A JP2811177B2 (en) 1987-07-02 1987-07-02 Position correction method for articulated robots

Publications (2)

Publication Number Publication Date
JPS649504A true JPS649504A (en) 1989-01-12
JP2811177B2 JP2811177B2 (en) 1998-10-15

Family

ID=15785679

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62164041A Expired - Fee Related JP2811177B2 (en) 1987-07-02 1987-07-02 Position correction method for articulated robots

Country Status (1)

Country Link
JP (1) JP2811177B2 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101331368B1 (en) * 2011-10-20 2013-11-19 현대중공업 주식회사 Substrate transferring robot having function of correcting meandering and method for correcting meandering thereof
CN113799114A (en) * 2020-06-11 2021-12-17 台达电子工业股份有限公司 Origin correction method of robot arm

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5263578A (en) * 1975-11-20 1977-05-26 Fanuc Ltd Error correction system by means of numerical control
JPS59103106A (en) * 1982-12-06 1984-06-14 Hitachi Ltd Manipulator control method and device

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5263578A (en) * 1975-11-20 1977-05-26 Fanuc Ltd Error correction system by means of numerical control
JPS59103106A (en) * 1982-12-06 1984-06-14 Hitachi Ltd Manipulator control method and device

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101331368B1 (en) * 2011-10-20 2013-11-19 현대중공업 주식회사 Substrate transferring robot having function of correcting meandering and method for correcting meandering thereof
CN113799114A (en) * 2020-06-11 2021-12-17 台达电子工业股份有限公司 Origin correction method of robot arm
CN113799114B (en) * 2020-06-11 2023-03-14 台达电子工业股份有限公司 The origin correction method of the robot arm

Also Published As

Publication number Publication date
JP2811177B2 (en) 1998-10-15

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Legal Events

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