Method of calculating actual arm lengths and compensating for an

Details Method of calculating actual arm lengths and compensating for an Method of calculating actual arm lengths and compensating for an

1985-10-31

1988-01-26

Smith, Jerry

Boots, shoes, and leggings

364192, 901 3, 901 17, G05B 1942

Patent

active

047220635

ABSTRACT:
A method of positioning a planar multi-joint industrial robot in which errors due to manufacturing tolerances and errors in the manufacture of the robot are prevented from affecting the accuracy of the movements of the robot in actual use. The coordinate system of a measuring plate is first made to agree with one axis of the coordinate system of the robot by teaching, and the coordinates of four points on the measuring plate are taught to the robot. The actual arm lengths of two arms of the robot are obtained, and an angle of one of the arms relative to an extension of the other arm on the basis of the four coordinates is determined. Dimensions of the robot to the actual arm lengths and this angle are then corrected, and two reference points of the object are taught to the robot to obtain an inclination between the coordinate systems of the object and the robot. The coordinate system of the robot is corrected with the inclination to thereby obtain the position of the object. In a control unit of the robot are stored the actual arm lengths and the inclination as well as the position coordinates as correction values.

REFERENCES:
patent: 4281385 (1981-07-01), Nakaso
patent: 4400118 (1983-08-01), Yamakage
patent: 4456961 (1984-06-01), Price
patent: 4481592 (1984-11-01), Jacobs
patent: 4495588 (1985-01-01), Nio
patent: 4511985 (1985-04-01), Inaba
patent: 4517653 (1985-05-01), Tsuchihashi
patent: 4562392 (1985-12-01), Davis
patent: 4583159 (1986-04-01), Kanemoto
patent: 4613943 (1986-09-01), Miyake

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