| 摘要 |
PROBLEM TO BE SOLVED: To provide a technique that enhances accuracy for positioning of a carrying device without sensor feedback. SOLUTION: The carrying device 100 includes a self-propelling carriage 10, a robot arm 12 mounted on the self-propelling carriage, an engaging device 14, and a controller 18. The engaging device 14 is mounted at a tip of the robot arm 12. In addition, the engaging device 14 is configured to engage with a reference block 92 of a workpiece rack 90. After engaging, the engaging device 14 is also configured to accurately establish a relative position to the reference block 92. The controller 18 moves the self-propelling carriage 10 into a range where the engaging device 14 reaches the reference block 92, and then controls the engaging device 14 to engage with the reference block 92 while keeping a wheel of the self-propelling carriage 10 passively and freely rotatably. A position of the self-propelling carriage 10 is corrected by a reaction force acting between the engaging device 14 and the reference block 92. COPYRIGHT: (C)2011,JPO&INPIT |
