| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot controller capable of obtaining information from a plurality of sensors at the same time by a simple structure and capable of reducing errors generated caused by the difference between the obtained times of various sensors. SOLUTION: A CCD camera 22 mounted on the tip of a robot arm 16 detects image information Sa of a work object, etc., a sensor controller 24 takes in the image information Sa and sends a command signal Sh to a measuring signal generating device 36, and the measuring signal generating device 36 generates an interrupt signal Si and sends it to a position measuring device 26. The position measuring device 26 takes in robot information Sb in receiving the interrupt signal Si regardless of the take-in period and outputs it to a robot controller 18. Sensor information Sc in a sensor coordinate system is converted into senor information Sd in a world coordinate system by using the robot information Sb a driving signal Sg is found from the sensor information Sd, and the robot arm 16 is driven by the driving signal Sg.
|
