Robot, robot system, and method for setting coordinate system of robot
AssigneeFanuc Corporation
InventorsYuelai WANG, Soichi ARITA
Life of this patent
Estimating the term…
Abstract
A robot includes a robot control unit configured to control an operation of a robot, wherein the robot control unit is configured to set a coordinate system of the robot installed on a reference flat surface using measurement results of at least position coordinates in a vertical direction of three or more measurement points on the reference flat surface on which the robot is installed and measurement results of position coordinates of a plurality of reference reflection portions provided on a base portion of the robot.
Claims7
A robot installed on a reference flat surface, the robot comprising a robot control unit configured to control an operation of the robot,
- wherein the robot control unit is configured to set a coordinate system of the robot, installed on the reference flat surface, using measurement results of at least position coordinates in a vertical direction of three or more measurement points on the reference flat surface and measurement results of position coordinates of a plurality of reference reflection portions provided on a base portion of the robot.
A robot system comprising:
- a robot installed on a reference flat surface;
- and
- a robot control unit configured to control an operation of the robot, wherein
- the robot control unit is configured to set a coordinate system of the robot, installed on the reference flat surface, using measurement results of at least position coordinates in a vertical direction of three or more measurement points on the reference flat surface and measurement results of position coordinates of a plurality of reference reflection portions provided on a base portion of the robot, and
- the robot control unit or another control unit is configured to conduct an operation program re-setting process to perform re-setting of a parameter of an operation program based on displacement of the set coordinate system, the displacement is displacement of the set coordinate system with respect to an initial coordinate system set in advance in the robot or the robot control unit, or displacement of a z axis of the set coordinate system with respect to a vertical axis, the operation program is for operating the robot.
A method for setting a coordinate system of a robot, the method comprising:
- a step of installing a robot on a reference flat surface;
- a flat-surface-position measuring step of measuring at least position coordinates in a vertical direction of three or more measurement points on the reference flat surface;
- a reflection-portion-position measuring step of measuring position coordinates of a plurality of reference reflection portions provided on a base portion of the robot;
- and
- a coordinate system setting step of setting a coordinate system of the robot, installed on the reference flat surface, using the position coordinates of the measurement points on the reference flat surface and the position coordinates of the reference reflection portions.
Dependencies are inferred from the claim text.