Calibration system for spot welding robots has been developed. The purpose of this system is to reduce the misalignment of tool center point (TCP) generated when teaching data made by off-line system is input to an actual robot. After the factorof the misalignment was analyzed, the relation between ,a main factor and the misalignment was modeled. In addition, the model was verified on experiment. The achievement of the accuracy requirement and practical use in the site was confirmed by theresult of the verification.
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