| 摘要 |
PROBLEM TO BE SOLVED: To reproduce a teaching point which has been taught to a first robot to a second robot with higher accuracy, in the case of replacing the first robot with the second robot.SOLUTION: Before and after replacement, three or more markers 31 which are not on one straight line other than first and second robots 2 are measured by a camera 4 mounted on a hand tip of the first and second robots 2 respectively. By using a measured value of two pairs of the markers 31 of three points measured by the position measuring device 4 respectively before and after the replacement, an installation error at the replacement time from the first robot 2 to the second robot 2 and a hand tip position specifying parameter for specifying a hand tip position in a base coordinate system 20b of the first robot 2 before the replacement and the second robot 2 after the replacement respectively are estimated. By using the estimated installation error and the hand tip position specifying parameter, the teaching point taught to the first robot 2 is converted to the teaching point for the second robot 2. |
