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Grasping error correction method, grasping error correction apparatus, and grasping error correction program
Grasping error correction method, grasping error correction apparatus, and grasping error correction program
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机译:抓取误差修正方法,抓取误差修正装置,以及抓取误差修正程序
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摘要
A grasping error correction method includes a position information acquisition step of acquiring position information of a plurality of areas of a lower component 2, a grasping error value calculation step of calculating a grasping error value based on the position information at the time of the reproduction and the position information of the plurality of areas of the lower component 2 at the time of teaching, and an arm control step of controlling an operation of a multi-axis articulated arm 11a so as to correct the grasping error value. Further, in the grasping error value calculation step, the grasping error value is calculated so that a grasping error in a processing nearby area, which is one of the plurality of areas of the lower component 2 that is closest to the processing area, is preferentially eliminated over those in the other areas of the lower component 2.
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