AUTOMATIC POSITIONAL DISLOCATION CORRECTING METHOD AND AUTOMATIC POSITION TEACHING METHOD

摘要

PROBLEM TO BE SOLVED: To provide a position teaching method which automatically acquires optimal position teaching data even if a finger part is installed by being dislocated in the rotational direction in a horizontal plane, and the position teaching method which carries a carrying object to an optimal position by correcting a dislocation quantity by detecting the positional dislocation quantity of the finger part.

SOLUTION: This invention detects a third object after specifying the central position of a carrying robot by detecting first and second objects provided in parallel to the X axis direction capable of moving the carrying robot. An optimal carrying position is automatically taught from position data acquired by these operations.

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