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1. (WO2013161242) METHOD FOR CORRECTING MECHANISM ERROR OF ARTICULATED ROBOT

Pub. No.:    WO/2013/161242    International Application No.:    PCT/JP2013/002665
Publication Date: Fri Nov 01 00:59:59 CET 2013 International Filing Date: Sat Apr 20 01:59:59 CEST 2013
IPC: B25J 9/10
G05B 19/18
Applicants: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
パナソニックIPマネジメント株式会社
Inventors: TAKANO, Ken
高野 健
SUEFUJI, Nobuyuki
末藤 伸幸
FUJIWARA, Shigeki
藤原 茂喜
HOJO, Tsukasa
法上 司
Title: METHOD FOR CORRECTING MECHANISM ERROR OF ARTICULATED ROBOT
Abstract:
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.