| 摘要 |
PROBLEM TO BE SOLVED: To provide a sealer application apparatus, which eliminates the need for a complicated working fixture or setup operation, and which can precisely apply sealer even when the setting operation of work-pieces for a working fixture is not preformed uniformly. SOLUTION: Three-dimensional shape data 24 of the window glass 101 are found by photographing a window glass 101 that is set in the working fixture 3 using a stereo camera 4, and affine transformation matrix [M] is computed for mapping three-dimensional shape data 21 on design of the window glass 101 on the three-dimensional shape data 24 in setting completion. Further, the moving locus coordinates P1-Pn suitable for positions and postures of the window glass 101 in the setting completion are reoperated by multiplying the affine transformation matrix [M] to the moving locus coordinates Q1-Qn of a sealer feeding device 104, which are set corresponding to the three-dimensional shape data 21 on design. An industrial robot 105 is driven and controlled so as to perform application of sealer along with the moving locus coordinates P1-Pn. COPYRIGHT: (C)2004,JPO
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