PURPOSE:To improve the accuracy of positioning of absolute position of robot, by correcting the positioning error against the absolute coordinates of a robot by detecting the error from a correction table in which each position of robot is specified. CONSTITUTION:The motion range of a robot is divided into gridiron, and a correction table is prepared to each division specifying correction volume of DELTAA-DELTAC, or correction volume for rectangular coordinates system deltax-deltaz. Suppose that the recognition of the present position of robot is P0(x',y',z'), against which the robot is actually positioned at P1(x,y,z) having differences of deltay, deltaz. Denoting that the rotating angle of rotation axis 8 obtained from encoder is A, and angles of 4th and 5th joints are B' and C' respectively, B' and C' should be corrected by DELTAB and DELTAC to make a correct recognition of present position, and B=B'+DELTAB; C=C'+DELTAC are obtained. When (x), (y), (z) coordinates are decided according to these angles A-C, then; x=f(A,B,C); y=g(A,B,C); and z=h(A,B,C), and coincide to the actual position P1(x,y,z).
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机译：用途：为了提高机器人绝对位置的定位精度，通过从指定了机器人每个位置的校正表中检测到相对于机器人绝对坐标的定位误差来校正机器人。构成：将机器人的运动范围划分为烤架，并为每个分区准备一个校正表，以指定DELTAA-DELTAC的校正量或直角坐标系deltax-deltaz的校正量。假设对机器人当前位置的识别为P0（x'，y'，z'），机器人实际相对于机器人的位置位于delta，deltaaz之差的P1（x，y，z）处。表示从编码器获得的旋转轴8的旋转角度为A，第四关节和第五关节的角度分别为B'和C'，则应通过DELTAB和DELTAC校正B'和C'以正确识别当前位置，并且B = B'+ DELTAB;得到C ＝ C′+ DELTAC。当根据这些角度A-C确定（x），（y），（z）坐标时; x = f（A，B，C）; y = g（A，B，C）;并且z = h（A，B，C），并且与实际位置P1（x，y，z）重合。
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