| 摘要 |
PROBLEM TO BE SOLVED: To suppress a rise in cost of a control device, while controlling a robot by acquiring positional data of the robot when calculating the position of a workpiece by a visual sensor without stopping the robot. SOLUTION: This robot control device is provided with a servo driver 7 for controlling driving of the robot 1, a processing part 5 for transmitting a command signal to make the servo driver 7 drive the robot, a trigger signal transmission means 52 for simultaneously transmitting a trigger signal to the visual sensor 4 and the servo driver 7, a trigger signal input means 72 provided in the servo driver 7 and input with the trigger signal therein, a positional information acquisition means 74 for acquiring positional information on the robot at a point of time when the trigger signal is input, a positional information storage means 76 for storing the acquired positional information on the robot, and a correction means 58 for correcting a work program by calculating correction amount of the position of the robot based on the positional information on the robot in a robot coordinate system when transmitting the trigger signal and positional information on the workpiece in a visual sensor coordinate system. COPYRIGHT: (C)2008,JPO&INPIT
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