METHOD FOR CONTROLLING OROTHOGONAL GONAL THREE-AXIS ROBOT AND ORTHOGONAL THREE-AXIS ROBOT

摘要

PROBLEM TO BE SOLVED: To improve operation rate and quality of an orthogonal three-axis robot for performing mounting and detaching a part in relation to a base plate. ;SOLUTION: A hand arranged on a supporting body 2 and for gripping a part is moved by using an X-axis step motor 23, a Yaxis step motor 28 and a Z-axis step motor 27, and the heights in the Z-axis direction of four reference points Pa to Pd formed on base plates 30 are measured. When mounting and detaching of individual parts are performed in the specified position by using the hand, the height in the Z-axis direction of the hand is corrected for each specified position by referring to the heights of four reference points Pa to Pd.;COPYRIGHT: (C)1999,JPO