| 摘要 |
An image of a workpiece (10) conveyed by a feeding conveyor (3) is taken by a camera (7) of a visual sensor to detect a position of the workpiece. The moving amount of the feeding conveyor (3) is detected by a pulse coder (8). When a request for picking up a workpiece is issued to a plurality of robots (RB1, RB2), it is judged whether or not the robots can grip the workpiece positioned most downstream, based on current positions of the robots and a current position of the workpiece. The workpiece should be gripped before it reaches the downstream boundary line (TR1e, TR2e) in the tracking range of the robot. If the workpiece can be gripped, the robot picks up the workpiece. Based on the robot operating speed, the feeding speed of the feeding conveyor (3) is adjusted to reduce the waiting time of the plurality of robots (RB1, RB2) and to reduce the number of failures to hold the workpiece as far as possible.
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