Source: https://patents.google.com/patent/JPS62226307A/en
Timestamp: 2019-04-22 15:08:18
Document Index: 417677486

Matched Legal Cases: ['art 9', 'art 9', 'art 9', 'art 9', 'art 8', 'art 9', 'art 9']

JPS62226307A - Robot device - Google Patents
JPS62226307A
JPS62226307A JP6871786A JP6871786A JPS62226307A JP S62226307 A JPS62226307 A JP S62226307A JP 6871786 A JP6871786 A JP 6871786A JP 6871786 A JP6871786 A JP 6871786A JP S62226307 A JPS62226307 A JP S62226307A
arithmetic part
JP6871786A
1986-03-28 Application filed by Toshiba Corp filed Critical Toshiba Corp
1986-03-28 Priority to JP6871786A priority Critical patent/JPS62226307A/en
1987-10-05 Publication of JPS62226307A publication Critical patent/JPS62226307A/en
PURPOSE: To exactly move an arm to a targeted coordinate position, by finding a deviation between the position of a commanded coordinate axis, and that of the coordinate axis of a robot arm moved according to the position of the commanded coordinate axis, and operating the robot arm according to a corrected move quantity.
CONSTITUTION: A main control part 9 is operated as the one to control to find the assembling error of a robot 2, and is equipped with a deviation arithmetic part 9-1 and an error arithmetic part 9-2. The deviation arithmetic part 9-1 has a function to find the deviation (in an X-axis and a Y-axis directions) between an image pickup position (the position of a grid intersection) in a work 7 instructed to an image pickup device 5 receiving a picture data from a visual arithmetic part 8, and the position of an intersection image-picked up at the image pickup device 5. Also, the error arithmetic part 9-2 has the function to find at least the assembling errors (rotational displacement quantities) of the arms 3 and 4 of the robot 2, and the arranging position error (rotational displacement quantity and in the X-axis and the Y-axis directions) of the work 7, receiving the deviation obtained by the deviation arithmetic part 9-1.
JP6871786A 1986-03-28 1986-03-28 Robot device Pending JPS62226307A (en)
JP6871786A JPS62226307A (en) 1986-03-28 1986-03-28 Robot device
JPS62226307A true JPS62226307A (en) 1987-10-05
ID=13381824
JP6871786A Pending JPS62226307A (en) 1986-03-28 1986-03-28 Robot device
JP (1) JPS62226307A (en)
1986-03-28 JP JP6871786A patent/JPS62226307A/en active Pending
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