Patent ID: 6272397
Filing Date: 2001-08-07
Classification: B25J,G05B

Abstract:
A method of controlling an orthogonal type three-axis robot having(i) a holding device to hold a part to be mounted onto or removed from a board fixed on a base,(ii) a driving system to support the holding device relative to the base and move the holding device along a direction of an X axis which corresponds to a lateral direction of the board, move the holding device along a direction of a Y axis which corresponds to a longitudinal direction of the board, and move the holding device along a direction of a Z axis which corresponds to a thickness direction of the board, and(iii) a measuring device to determine a Z axis coordinate of a surface of the board, wherein said driving system is to move said holding device along the direction of the X axis, Y axis and Z axis according to the determined Z axis coordinate in order to position said holding device such that at a specified position a part can be mounted onto the board or such that at a specified position a part can be removed from the board,said method comprising, when said holding device is moved by said driving system, correcting for the specified position a moving distance of said holding device along the direction of the Z axis based on a location of the specified position.