METHOD FOR ADJUSTING REFERENCE POINT OF ROBOT, AND DETECTOR OF SHIFT QUANTITY OF CONTROL POINT ON COORDINATE SYSTEM OF ROBOT AND ACTUAL WORK REFERENCE POINT

摘要

PURPOSE:To simplify remarkably an adjustment of a reference point of a robot by measuring a shift quantity of a control point on a coordinate system of the robot and an actual work reference point, making a target point of the robot conform with the actual work reference point, and controlling the robot, based on this work reference point. CONSTITUTION:A torch 8 being a work tool is attached to a mounting bracket 7, a detector 9 is attached in the same coordinate system as a robot through a twist shaft 6 of the robot, and a measurement of a correcting data being a shift quantity of a control point A on the coordinate system of the robot and an actual work reference point B is executed. An input of the correcting data is executed from an operating surface of a control device, an input of a joint position data of the present robot is executed, and subsequently, a joint coordinate of the present value is converted to an orthogonal coordinate. Next, a position calculation of a target point is executed, an orthogonal coordinate of the target point is converted to a joint coordinate, and the robot is controlled, based on the actual work reference point B.