As robot spacer mark transformation matrix configuration manner and

摘要

PROBLEM TO BE SOLVED: To provide a setting system for an interobot coordinate conversion matrix to simply determine a conversion matrix between robot coordinate systems which is necessary for a plurality of robots to perform coordination operation and to provide a correction system to correct an error during conversion. ;SOLUTION: The tip 5 of a robot 1 driven by a control device 3 is registered with the tip 6 of a robot 2 driven by a control device 4. The positions of arbitrary three points in a space are read by respective coordinate systems. A unit coordinate system, set on a basis of three points, for example, a unit coordinate system, wherein the center of an arc of circle passing through the three points is set as a home position is computed as the values of the two coordinate systems. This way computes and sets a coordinate conversion matrix from the two robot coordinate systems to the unit coordinate system and a coordinate conversion matrix between robots is computed from the coordinate conversion matrix. This constitution sets conversion from the coordinate system of the robot 1 to the coordinate system of the robot 2 and easily realizes coordination operation between robots.;COPYRIGHT: (C)1997,JPO