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Exploration distance setting method of industrial robot

机译:工业机器人的探索距离设定方法

摘要

PURPOSE: To properly set investigation distance between the work center point and an investigation point without increasing the work failure frequency. ;CONSTITUTION: The variance distribution is measured for the relative position between hole and ramp of a base board before the work is started. Distribution function of the work success rate is calculated based on the measured dispersion distribution and an allowable work success error. When the success rate is measured at the work center point, the position of this success rate is estimated in the work success rate distribution. Then, the distance from a point where the work success rate is maximized is set as an investigation distance. If the work fails and the work center point is corrected, the investigation distance is set again based on the success rate calculated at a new work center point. As the investigation point is variable, the correcting point quickly comes near to the highest success rate point when the correcting point is set distant away from the highest success point. Meanwhile, the correcting point can surely get closer to the highest success rate point without passing over this point when the correcting point is set close to the highest success point.;COPYRIGHT: (C)1996,JPO
机译:目的:在不增加工作失败频率的情况下,正确设置工作中心点和调查点之间的调查距离。 ;构成:在开始工作之前,测量方孔和基板斜面之间的相对位置的方差分布。根据测得的色散分布和允许的工作成功误差来计算工作成功率的分布函数。当在工作中心点测量成功率时,在工作成功率分布中估计该成功率的位置。然后,将距工作成功率最大的点的距离设定为调查距离。如果工作失败并且校正了工作中心点,则根据在新工作中心点处计算出的成功率再次设置调查距离。由于调查点是可变的,因此当将校正点设置为远离最高成功点时,校正点将很快接近最高成功率点。同时,当将校正点设置为接近最高成功点时,校正点肯定可以更接近最高成功率点。[COPYRIGHT:(C)1996,JPO

著录项

  • 公开/公告号JP3201170B2

    专利类型

  • 公开/公告日2001-08-20

    原文格式PDF

  • 申请/专利权人 株式会社デンソー;

    申请/专利号JP19940233852

  • 发明设计人 金森 淳一郎;

    申请日1994-09-28

  • 分类号G05B19/42;B25J9/16;

  • 国家 JP

  • 入库时间 2022-08-22 01:34:00

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