| 摘要 |
<p>A workpiece (1) is gripped by a robot hand (11) and the image of the workpiece (1) is captured by a camera (103) without being stopped. An image processing device (104) detects the position and posture of a characteristic portion (105) of the workpiece (1). A robot controller (102) stores the present position of the robot (101) once or more times synchronously with the output of an image pick-up trigger instruction. On the basis of the present position of the robot (101) and a detection result, the relative position and posture between a flange of the robot (101) and the workpiece characteristic portion (105) is detected. The relative position and posture is compared with that observed when the workpiece (1) is gripped correctly, to determine a gripping error. If the gripping error exceeds a permissible error, the robot (101) is stopped. If the gripping error is equal to or less than the permissible error, a taught position where the workpiece (1) is to be released is corrected so as to cancel the adverse effect of the gripping error. <IMAGE></p> |
