| 摘要 |
PROBLEM TO BE SOLVED: To make it possible to precisely move a robot to a practical palletizing position when the robot is moved to a calculated palletizing position. SOLUTION: Palletizing positions on four corners among plural palletizing positions arrayed on M columns in the horizontal direction and N rows in the vertical direction are teached as reference points P1 to P4. A robot controller finds out a positional unit correction vector, a posture unit correction approach vector and a unit correction orient vector and calculates coordinates on the m-th column and the n-th row. The positional unit correction vector finds out a unidirectional unit vector (a) by equally dividing a vector D from the reference point P1 up to the point P2 by (M-1), finds out another direction unit vector (b) by equally dividing a vector E from the reference point P1 up to the point P3 by (N-1) and finds out a correction unit vector (c) by equally dividing a vector H obtained by subtracting a vector F from the reference point P1 up to the point P4 from the sum of the vectors D, E by (M-1)}×(N-1)}. Then a palletizing position on the m-th column and the n-th row is calculated by (m, n)=P1+(m--1)×a+(n-1)×b (m-1)×(n-1)}×c.
|
