PURPOSE:To automatically correct the tip position by using a tool in a reference length in an actual work program, performing a reference teaching, converting the tool error on the tool coordinate stored in a register thereafter into the shifting amt. on a robot coordinate system at each storing point and correcting the tool tip position. CONSTITUTION:A robot 1 is moved on the extension line of two points until a sensor 4 is actuated by operating the robot 1 by its regeneration and stored on a memory with the coordinate of the position where the censor is worked as a reference position. A regeneration operation moving on the extension line of two points is performed by using the tool 2 whose length is varied and the difference in the coordinate of the position where the sensor is worked and reference position is found as the difference of the robot coordinate. This difference is then stored in a register by converting it into the tool error. A reference teaching is performed by using the tool in the reference length in the actual work program thereafter and the tool error stored in the register is converted into the shift amt. in the robot coordinate system at the memory point.
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