Method for correcting target position of work robot
AssigneeFuji Corporation
InventorHideki Hosaka
Life of this patent
Estimating the term…
Abstract
In a method for correcting a target position, a three-dimensional matrix is formed by piling up, in a Z-direction at predetermined intervals, matrix planes each formed by continuously connecting, in X- and Y-directions, quadrangular areas that are parallel to an XY-plane and each have a reference point, and a target position of a work robot designated in an operation space of the three-dimensional matrix is corrected. In this method, a first block and a second block are set which are individually contiguous with the specific block, and the target position is corrected based on respective reference points in the upper area and the lower area of the specific block, the first block, and the second block and the measured deviation amount of the work robot from the reference points.
Claims6
A method for correcting a target position of a work robot in which with a left-right direction referred to as an X-axis, a front-rear direction referred to as a Y-axis, and an up-down direction referred to as a Z-axis, matrix planes each formed by continuously connecting, together in X- and Y-directions, quadrangular areas being parallel to an XY-plane and each having a reference point are piled up one on another at predetermined intervals in a Z-direction to thereby build up a three-dimensional matrix, and a target position of the work robot designated in an operation space of the three-dimensional matrix is corrected, a rectangular parallelepiped space including an upper and lower pair of the areas disposed at the predetermined intervals being referred to as a block, and a block including the target position designated in the operation space of the three-dimensional matrix being referred to as a specific block, the method comprising:
- (a) a step of setting two blocks contiguous with the specific block as a first block and a second block;
- and
- (b) a step of correcting the target position based on respective reference points in an upper area and a lower area of the specific block and a measured deviation amount of the work robot from the reference points, respective reference points in an upper area and a lower area of the first block and a measured deviation amount of the work robot from the reference points, and respective reference points in an upper area and a lower arear of the second block and a measured deviation amount of the work robot from the reference points.
Dependencies are inferred from the claim text.