| 摘要 |
PROBLEM TO BE SOLVED: To perform automatically positioning relative coordinate system between a butting device and a robot without any adjustment of position aligning like teaching and the like. SOLUTION: The butting device and a robot gripper are butted each other from both X and Y axis directions respectively in advance (S1 and S5 steps). Relative position relationship of X and Y axis coordinates for the butting reference position and robot reference position is calculated,so that the X and Y axis coordinates of the butting reference position of the butting device and the robot reference position of the robot gripper is detected (S3 and S6 steps). Based on the calculated relative position relationship, one of coordinate systems for the butting reference position and the robot reference position is set up as a reference point, and X and Y axis coordinates of another reference position with respect to this reference point is also set up in conformity with the same coordinate system (S4 and S7 steps). Both of robot operation program and butting operation program against the aforementioned reference point are provided, and a work is bent so that the robot and butting device are forced to move based on the respective operation programs.
|
