3-dimensional position correction amount acquisition method and robot system of teaching position data of the robot

摘要

PURPOSE: To correct a generated teaching program such as an off-line program by a visual sensor means. ;CONSTITUTION: A work 1 to be measured at its teaching point position is fixed in a working space by a fixing means which is not shown and provided with a welding line 6. A mark is put on a position corresponding to a selected teaching point P₁ on the work 1. A welding torch 3 and two cameras 4, 5 constituting a three-dimensional visual sensor means are fixed to a wrist flange part of a robot body 2. The mark put on the point P₁ is photographed by the cameras 4, 5 and positional data V' on a sensor coordinate system are acquired and transferred to a robot controller. The controller calculates a difference from positional data V calculated based upon program data by CPU processing and executes calculation for converting the difference into a positional error on the robot wrist or a tool tip point. The calculated result is regarded as a required correction amount for each teaching point to correct the positional data of respective teaching point P₀ to P₃.;COPYRIGHT: (C)1995,JPO