US 12,479,096 B2
Robot installation position measurement device, installation position measurement method, robot controller, teaching system, and simulator
Kunihiko Harada, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Appl. No. 18/273,387
Filed by FANUC CORPORATION, Yamanashi (JP)
PCT Filed Feb. 24, 2022, PCT No. PCT/JP2022/007600
§ 371(c)(1), (2) Date Jul. 20, 2023,
PCT Pub. No. WO2022/181688, PCT Pub. Date Sep. 1, 2022.
Claims priority of application No. 2021-029889 (JP), filed on Feb. 26, 2021.
Prior Publication US 2024/0091940 A1, Mar. 21, 2024
Int. Cl. B25J 13/08 (2006.01); B25J 9/04 (2006.01); B25J 9/16 (2006.01); B25J 19/00 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/04 (2013.01); B25J 9/163 (2013.01); B25J 19/0037 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A robot installation position measurement device comprising:
a first position information acquisition unit that acquires first position information, which is a three-dimensional command position of a tool center point fixed with respect to a flange at a tip of a robot, in a state in which the robot is positioned in a desired pose;
a second position information acquisition unit that acquires, by a three-dimensional measurement instrument installed with a predetermined measurement coordinate system, second position information, which is a three-dimensional actual position of the tool center point in the pose; and
a coordinate system correction unit that corrects a robot coordinate system, with which the robot operates, such that a difference between pieces of the first position information and pieces of the second position information acquired in states in which the robot is positioned in multiple different poses becomes small.