Patent ID: 7957834
Filing Date: 2011-06-07
Classification: B25J,G05B

Abstract:
1. A method for calculating a rotation center point on a plane of rotation of a positioning device by using a manipulator, the positioning device positioning a workpiece by rotating the plane of rotation, the method comprising: setting a mark on a predetermined position on the plane of rotation; obtaining first location information of the mark by using the manipulator, such that the first location information is obtained based on a first tip position of a tip of a tool that is for processing the workpiece and that is held by the manipulator, rotating the plane of rotation of the positioning device 180 degrees; obtaining second location information of the mark on the 180-degree rotated plane of rotation by using the manipulator, such that the second location information is obtained based on a second tip position of the tip of the tool of the manipulator; and calculating a point bisecting a straight line, as the rotation center point on the plane of rotation of the positioning device, the point being calculated based on the first location information and the second location information, the straight line connecting the position of the mark on the plane of rotation prior to the rotating of the plane of rotation and the position of the mark on the 180-degree rotated plane of rotation.