Installation of industrial robot system error calibration method and calibration control device

摘要

PURPOSE: To provide the installation error calibrating method and calibration controller for the industrial robot system which can calibrate an error in installation such as fitting. ;CONSTITUTION: A tool moving device 11 which moves a tool 4 and includes a robot 1 and a work handling device 12 which includes a word such as a body to be operated are provided, and the robot 1 is controlled so that the position of the tool 4 is the origin of a word base coordinate system set for the work; and the distances between the tip of the tool 4 before and after the control over the robot 1 and a cubic block mounted so that its one vertex coincides with the original point of the work base coordinate system, an error in the position of the work base coordinate system based upon a specific absolute coordinate system is calculated from the respective measured distances, and the position of the work base coordinate system based upon the absolute coordinate system is calibrated on the basis of the calculated error.;COPYRIGHT: (C)1994,JPO