| 摘要 |
PROBLEM TO BE SOLVED: To favorably pass a workpiece from a workpiece holding section of a carrying apparatus to machinery when carrying the workpiece from the holding section driven under numerical control to the machinery. SOLUTION: Before starting carrying the workpiece to the machinery (S30), the carrying apparatus sets a desired position and a desired angle for the workpiece holding section to pass the workpiece to the machinery, and sets the initial values of position control and angle control parameters for the holding section to achieve the desired position and the desired angle. The apparatus drives the holding section applied with a load equivalent to the workpiece according to the initial values of the position control and angle control parameters (S22), and corrects, after driving the holding section, its position and angle to the desired position and the desired angle (S23 to S26). Further, the apparatus detects the actual values of the position control and angle control parameters of the holding section corrected in position and angle (S27), and modifies the initial values (S29) according to their differences obtained from the actual values of the position control and angle control parameters (S28). COPYRIGHT: (C)2010,JPO&INPIT
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