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|1. (WO2013161242) METHOD FOR CORRECTING MECHANISM ERROR OF ARTICULATED ROBOT|
|Applicants:||PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
|Title:||METHOD FOR CORRECTING MECHANISM ERROR OF ARTICULATED ROBOT|
The present invention relates to a method for correcting a mechanism error of an articulated robot (31) by using a value obtained by restricting the position and posture of a finger (2) of the articulated robot (31) which has six degrees of freedom by a plane jig (7). The present invention comprises: a step of acquiring the angle of a joint of the articulated robot (31) in a state of restriction in which the finger (2) is restricted by the plane jig (7) at each of at least four different positions (51 to 54) on a surface of the plane jig (7) so that the relationship between the posture of the finger (2) and a normal line on surfaces of the positions (51 to 54) is identical; and a step of correcting the mechanical error of the articulated robot (31) by using the angle obtained in the acquisition step.