| 摘要 |
PROBLEM TO BE SOLVED: To provide a work method and a work device capable of performing work while maintaining high positioning accuracy regardless of vibration of a workpiece caused by transport operation.SOLUTION: Vibration states of a workpiece W and/or a transport device 30 are measured for every constant time interval, so that at least a vibration data row {x(n)} for m points is acquired, and the vibration state on a measurement point which is a future measurement point of the vibration data row {x(n)} by k points, is estimated. Then the estimated vibration state is converted into a vibration displacement &Dgr;x of the workpiece W, and before the future measurement point passes, work positions Pt1, Pt2 to which the vibration displacement &Dgr;x is added, are taught to a work part 60. |
