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1. 发明公开

EP1834738A2 Teaching position correcting apparatus and teaching position correction method 有权转让
标题翻译：用于校正教学位置和方法，用于校正一示教位置的装置
公开(公告)号：EP1834738A2
公开(公告)日：2007-09-19
申请号：EP07004540.6
申请日：2007-03-06
申请人： FANUC LTD
发明人： Ban, Kazunori , Kanno, Ichiro , Shen, Gang FANUCmanshonharimomi , Takizawa, Katsutoshi
IPC分类号： B25J9/16 , G05B19/425
摘要： A teaching position correcting apparatus (1) corrects plural teaching point positions of a robot (2) in a robot operation program, by sequentially moving the robot (2) to each of the plural teaching points and by sequentially reading a current position of the robot (2) at each of the plural teaching points. The teaching position correcting apparatus (1) includes: a position correction amount calculating means (11a) that calculates a position correction amount (A), based on corrected teaching point positions and teaching point positions before correction; and a corrected-position calculating means (11b) that calculates corrected positions of teaching point positions before correction out of the plural teaching points, based on the position correction amount (A). At the time of moving the robot to uncorrected teaching points, a moving means (15) moves the robot to corrected positions of the teaching point positions before correction. Based on the above operation, even when a posture change of the robot is large, teaching point positions in the operation program can be corrected accurately in short time.
摘要翻译：甲示教位置修正装置（1）的机器人动作程序来校正机器人（2）的多个示教点位置，通过顺序地使机器人移动（2）到每个所述多个示教点的并通过顺序地读取所述机器人的当前位置（2）在每一个所述多个示教点的。示教位置修正装置（1）包括：位置校正量计算装置（11）那样计算基于校正之前校正示教点的位置和示教点位置的位置修正量（A）; 和校正位置计算手段（11B）并计算修正后的修正前示教点位置的位置从多个示教点的，根据位置校正量（A）。在机器人移动至未修正示教点时，移动装置（15）移动所述机器人修正前的示教点位置的校正后的位置。基于以上操作，即使当机器人的姿势变化是大的，在动作程序示教点的位置可被校正在短时间内准确地设定。

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