WORKPIECE CARRYING SYSTEM

摘要

PROBLEM TO BE SOLVED: To provide a workpiece holding position attitude measurement device that accurately measures the holding state of various components having different colors, and to provide a high precision workpiece carrying and assembling device that uses the workpiece holding position attitude measurement device. SOLUTION: A manipulator includes a workpiece holding means and a plurality of reference markers. A manipulator control device creates a motion trajectory of the manipulator corresponding to a corresponding reference marker corresponding to a held workpiece and the workpiece. A workpiece measurement device obtains a workpiece holding image in which the image of the workpiece and the corresponding reference marker are picked-up and calculates the position and the attitude of the workpiece with reference to the corresponding reference marker. The manipulator control device computes a correction amount for the motion trajectory of the manipulator based on the obtained position and attitude to correct the motion trajectory. COPYRIGHT: (C)2010,JPO&INPIT