TOOL COORDINATE SYSTEM CORRECTING METHOD OF ROBOT SYSTEM, AND ROBOT SYSTEM
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United States of America Patent
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Issued Date -
Aug 20, 2015
app pub date -
Feb 5, 2015
filing date -
Feb 20, 2014
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Abstract
An axial offset correcting method of a tool coordinate system of a robot also including an inclination offset correction is provided. A first workpiece is grasped by a tool. The operation of a robot arm is controlled by using detecting quantities of a force sensor, thereby starting a fitting of the first workpiece into a second workpiece. A position of an origin of a mechanical interface coordinate system in at least two different states during the fitting operation is obtained, thereby obtaining a position of a central axis of the first workpiece. An inclination offset quantity of the tool coordinate system is calculated based on the position of the central axis of the first workpiece. An inclination offset of the tool coordinate system is corrected based on the calculated inclination offset quantity.
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