| 摘要 |
PROBLEM TO BE SOLVED: To improve position detecting accuracy of a positioning marker by a visual device, in a robot for correcting an operation point of a robot arm on the basis of visual recognition of the positioning marker. SOLUTION: A CCD camera 11 is provided on the tip of a robot arm 6 of a moving robot 1, and one oval positioning marker M to be positioned in relation to a work 4 is provided on a fixed facility 3 side. In a state where the moving robot 1 is stopped before the fixed facility 3, a robot controller moves the robot arm 6, the positioning marker M is photographed by the CCD camera 11, the position and the inclination are calculated from the detection of a long axis and a short axis of the positioning marker M by an image processing device, and the position of the positioning marker M in teaching and the inclination are compared with the detected position to find the positional deviation amount. Work by the robot arm 6 is performed while correcting an operation point on the basis of the positional deviation amount.
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