Patent ID: 8972059
Filing Date: 2015-03-03
Classification: B25J,G05B,Y10S

Abstract:
1. A displacement correcting method for use in an automatic operation system, the automatic operation system including: 1) a positioning robot having a first robot arm and a holding tool provided at a tip end portion of the first robot arm, wherein the positioning robot conveys and positions the holding tool that holds a work at a positioning reference position that is a conveyance target position of the holding tool; 2) a working robot having a second robot arm and an operation tool provided at a tip end portion of the second robot arm, wherein the working robot carries out a predetermined operation with respect to the work at an operation position that is a predetermined target position of the working robot; 3) an inertial sensor provided at the tip end portion of the first robot arm, the tip end portion of the second robot arm, or the work held by the holding tool of the positioning robot; and 4) a robot control device that controls an operation of the positioning robot by executing the displacement correcting method, the method comprising: a displacement amount detecting step of detecting a displacement amount of the holding tool from the positioning reference position based on an inertial force detected by the inertial sensor when the working robot carries out the predetermined operation with respect to the work; and a displacement correcting step of correcting, based on the detected displacement amount, the positioning reference position of the holding tool to a position of the holding tool before the holding tool is displaced, wherein in the displacement amount detecting step, the detection of the displacement amount is started at a time when a stop signal indicating that the holding tool is positioned at the positioning reference position is input.