Robot device and method of adjusting origin of robot
AssigneeMatsushita Electric Industrial Co., Ltd.
InventorsYasushi Mukai, Masaya Hirayama
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Abstract
In a robot machine having a plurality of rotational joint axes, a rotational angle of rotational joint axis and a tilt angle of robot arm against the direction of gravity are measured at three or more of rotational angle positions to obtain rotational angle information Θi and tilt angle information Yi, and regression factors α and β are derived by computation from a resulting regression function of Y=α SIN(Θ+β)+γ, thereby performing an original point adjustment of rotational joint axis based on the obtained tilt angle and tilt direction thereof.
Claims8
With a rotational joint axis of a robot machine having a plurality of rotational joint axes, said rotational joint axis not maintaining a mutually parallel relationship with an adjoining rotational joint axis, an original point adjustment method of robot comprising the steps of:
- measuring a rotational angle of said rotational joint axis and a tilt angle of a robot arm against a direction of gravity at three points at least or more of rotational angle positions;
- deriving by computation regression factors α and β based on a regression function of Y=α SIN(Θ+β)+γ formed of thus obtained rotational angle information Θi and tilt angle information Yi;
- and
- performing an original point adjustment of said rotational joint axis based on a tilt angle and a tilt direction of rotational joint axis derived by computation from said regression factors.
With a rotational joint axis having a mutually parallel relationship with an adjoining rotational joint axis, an original point adjustment method of robot comprising the steps of:
- measuring distance Z between a control point of robot and an arbitrary straight line within a plane having a rotational joint axis serving as an object to receive adjustment made perpendicular thereto;
- measuring simultaneously a distance between said straight line and control point of robot and a rotation angle of said rotational joint axis serving as an object to receive adjustment while an attitude of robot being changed within said plane with a position of control point of said robot defined according to control computation kept to a fixed position;
- and
- performing an original point adjustment of said rotational joint axis serving as an object to receive adjustment by obtaining an amount of shift in angle of said rotational joint axis serving as an object to receive adjustment from an ideal value from the obtained distance information and rotational angle information.
With a rotational joint axis of robot machine having a plurality of rotational joint axes, said rotational joint axis not maintaining a mutually parallel relationship with an adjoining rotational joint axis, a robot machine comprising:
- a tilt angle measurement means fixed on a robot arm to measure a tilt angle against a direction of gravity;
- a robot control means to make a positional determination of said rotational joint axis at a plurality of designated rotational angle positions;
- a rotational angle measurement means to measure a rotational angle of said rotational joint axis;
- and
- an original point calibration amount computation means, wherein said rotational joint axis is determined in position at three or more of different rotational angle positions at least by said robot control means;
- rotational angle Θi and tilt angle Yi are measured at said each respective rotational angle position;
- regression factors α and β are obtained by computation from a regression function of Y=α SIN(Θ+β)+γ;
- and
- tilt angle information and tilt direction information of said rotational joint axis against a direction of gravity are derived by computation.
With a rotational joint axis of robot machine having a plurality of rotational joint axes, said rotational joint axis maintaining a mutually parallel relationship with an adjoining rotational joint axis, a robot machine comprising:
- a distance measurement means to measure distance Z between a control point of robot and an arbitrary straight line within a plane having a rotational joint axis serving as an object to receive adjustment made perpendicular thereto;
- a robot control means to make a positional determination of said rotational joint axis at a plurality of designated rotational angle positions;
- a rotational angle measurement means to measure a rotational angle of said rotational joint axis;
- and
- an original point shift amount computation means, wherein
- an attitude of said robot machine is changed within said plane by said robot control means while a control computational position of robot machine's control point being kept to a fixed position;
- distance Zi between said straight line and robot's control point and a rotational angle of said rotational joint axis serving as an object to receive adjustment are measured simultaneously at said each respective position in attitude;
- and
- an angular shift amount of said rotational joint axis serving as an object to receive adjustment from an ideal value is derived by computation based on obtained distance information and rotational angle information.
Dependencies are inferred from the claim text.