| 摘要 |
<p>The present invention relates to a method and a robot system for picking and placing components comprising: an industrial robot (1) configured to pick components at a first site (10) and to place the components at a second site (14), the robot is programmed to move along a predefined path (18) between the first and second site and the movements of the robot along the predefined path is controlled by a robot program, a robot controller (2) arranged to execute the robot program, a camera arranged to capture images of the component, a computing unit (17) configured to determine the position of the component with respect to the robot based on the image of the component, and to determine the deviation between the determined position of the component and a standard position of the component defined with respect to the robot, and the robot controller is configured to correct the robot movements for placing the component at the second site based on the determined deviation. The camera (20) is fixedly arranged in a position close to the predefined path and the robot controller is configured to generate an order to the camera to capture an image of the component at a predefined point on the predefined path with the tool in a predefined tool orientation, while moving the robot holding the component along the path, and the order to the camera to acquire an image of the component is generated by the robot program.</p> |
