| 摘要 |
PURPOSE: To eliminate the need for a three-dimensional position measuring device and the like by obtaining only information about the representative point of a subject for reference work, the coordinate values on a sensor coordinate system of an operation characteristic point on the subject for reference work, and the position and attitude of the end effector of a robot, as information about the position of a sensor attached to the end of the robot's arm. CONSTITUTION: A control system of a robot A, which is provided with an actuator 7 for driving each joint and an encoder 8 for detecting the rotation angle of each joint, has a robot instruction system D to which the course of an end effector at an arm end is input as instruction and which then drives a group of actuators following the course given. The control system also includes an arm-end data system E which calculates arm end position/attitude data based on the count of outputs of the encoder 8. The control system further includes a sensor operation characteristic point detecting system F which controls the calibrations of the position and attitude of a sensor C at the arm end to detect data about the operation characteristic point of a subject to be worked, and the control system uses an arithmetic storage system G to perform the required arithmetic based on the data obtained. |
