DEVICE ERROR CORRECTION SIMULATING SYSTEM FOR ON-LINE TEACHING SYSTEM

摘要

PURPOSE:To perform the positioning and moving operations of robots with high accuracy by carrying out the working simulation of each robot after correcting the device errors among robots against the teaching data produced in an off-line teaching system. CONSTITUTION:A robot is sequentially moved at each prescribed interval along an axis Z of a robot orthogonal coordinate system, and other axes X and Y are moved at each prescribed interval for each position Pij. Then the absolute position of a tool center point is measured by a three dimensional measuring instrument at each position Pij. The measurement data is inputted to a simula tion device and a curved surface formula is previously obtained and stored for each value of a certain one of those three axes. When the teaching data is simulated, a straight line passing through a teaching point is obtained among curved surface normal vectors based on the equation of curved surface stored for each teaching point. Then the robot simulation is carried out with an intersecting point between the straight line and the curved surface used as a new teaching point. Thus it is possible to correct the device error of each robot and the arm bend and to attain the robot positioning with high accuracy.