Method for correcting teaching points for welding robot and welding robot system employing the same
AssigneeSamsung Electronics Co., Ltd.
InventorSung-jin Hong
Life of this patent
Estimating the term…
Abstract
A method for correcting a preset locus of a teaching point for a welding robot having a touch sensor, includes the steps of positioning a workpiece on a welding jig, performing a touch-sensor tracking for the workpiece relative to reference coordinate axes, calculating a displacement of the workpiece through the touch-sensor tracking, and obtaining a new locus of the teaching point based on a transformation matrix generated on the basis of the displacement. With these steps, the teaching points are correctly updated by a touch sensor tracking without an additional equipment for optional sensor tracking, such as laser sensors and arc sensors.
Claims26
A method for correcting a locus of a teaching point for a welding robot having a touch sensor, comprising the steps of:
- mounting a workpiece to a welding jig;
- establishing a preset locus of at least one teaching point between an initial welding point and a terminating welding point;
- setting at least one detection point defined as a preset locus at said workpiece;
- touch-sensing the detection point at said workpiece;
- identifying a sensed locus of the detection point detected by the touch-sensing;
- generating a transformation matrix based on a difference between the preset locus of the detection point and the sensed locus of the detection point;
- and
- obtaining a new locus of the teaching point based on the transformation matrix.
A welding robot system comprising:
- a welding jig supporting a workpiece to be welded;
- a welding robot performing a welding operation to the workpiece and having a touch sensor;
- and
- a controller storing a preset locus of a teaching point and a preset locus of a detection point, said controller identifying a sensed locus of the detection point detected by touch-sensing the workpiece mounted to the welding jig through the touch sensor, said controller calculating a difference between the preset locus of the detection point and the sensed locus of the detection point, said controller generating a transformation matrix based on the difference, said controller obtaining a new locus of the teaching point based on the transformation matrix, said controller controlling the welding robot based on the new locus of the teaching point.
A method for correcting a preset locus of a teaching point for a welding robot having a touch sensor, comprising the steps of:
- positioning a workpiece on a welding jig;
- performing a touch-sensor tracking for said workpiece relative to reference coordinate axes;
- calculating a displacement of said workpiece through the touch-sensor tracking;
- generating a transformation matrix based on said displacement;
- and
- obtaining a new locus of the teaching point based on said transformation matrix.
Dependencies are inferred from the claim text.