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2. 发明授权

KR100784734B1 산업용 로봇 시스템의 타원 보간방법 有权
标题翻译：工业机器人偏差误差补偿方法
公开(公告)号：KR100784734B1
公开(公告)日：2007-12-13
申请号：KR1020070064208
申请日：2007-06-28
申请人： 주식회사 디에스티로봇
发明人： 주정현 , 김학진
IPC分类号： B25J9/16
摘要： An interpolation method for an elliptical trajectory of an industrial robot is provided to achieve improved accuracy of work of the robot by teaching four to six points from among points of the elliptical trajectory of the robot. An interpolation method for an elliptical trajectory of an industrial robot, includes a first step(S10) of permitting a controller to be taught by a user four to six points including a start point from the elliptical trajectory of the robot sensed by a sensing unit and derive coordinates of points on a three dimension; a second step(S20) of determining a plane by using points forming the elliptical trajectory derived in the first step; a third step(S30) of projecting points derived by the first step onto the plane determined in the second step, and deriving two-dimensional coordinates of points; a fourth step(S40) of deriving an elliptical equation by using the coordinates derived in the third step; and a fifth step(S50) of converting the elliptical equation derived in the fourth step into three-dimensional coordinates.
摘要翻译：提供了一种用于工业机器人的椭圆轨迹的插值方法，通过从机器人的椭圆轨迹的点中的四点到六点来实现提高机器人工作的精度。一种用于工业机器人的椭圆轨迹的插值方法，包括：第一步骤（S10），允许由用户教导控制器四至六点，包括从感测单元感测的机器人的椭圆轨迹的起点; 得出三维点上的坐标; 通过使用形成在第一步骤中导出的椭圆轨迹的点来确定平面的第二步骤（S20）将由第一步骤导出的点投影到在第二步骤中确定的平面上的第三步骤（S30），以及导出点的二维坐标; 通过使用在第三步骤中导出的坐标导出椭圆方程的第四步骤（S40）以及将在第四步骤中导出的椭圆方程转换为三维坐标的第五步骤（S50）。

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