Patent ID: 6192298
Filing Date: 2001-02-20
Classification: B25J,G05B

Abstract:
A method of correcting a shift of a position of a working tool in a robot manipulation system, comprising:moving the working tool in one direction from a first position toward a contact detecting member until the working tool abuts the contact detecting member to detect a first contact position where the working tool contacts the contact detecting member;rotating the working tool around a tool longitudinal axis serving as a rotational axis on a robot coordinate system by a predetermined angle to change a posture of the working tool to a second position;moving the working tool in the one direction from the second position toward the contact detecting member until the working tool abuts the contact detecting member to detect a second contact position where the working tool contacts the contact detecting member;calculating the first position based on the first and second contact positions and the predetermined angle;obtaining a difference as a shift amount between the first position and a theoretical tool working position which is previously obtained as a control reference point by a robot control program; andstoring the obtained shift amount to correct a position of the working tool in a subsequent robot manipulating operation.