APPARATUS FOR CORRECTING MOVEMENT PATH OF A ROBOT AND A METHOD THEREFOR

摘要

A tool (2) mounted on the wrist end of a robot (1) is placed in a predetermined photographing position (P1), and the front and side faces of the tool (2) are photographed by cameras (41, 42) to obtain three-dimensional shape data of the tool (2). The extent of deformation of the tool (2) is detected by comparing the obtained shape data and reference shape data, and a programmed movement path for the robot is corrected depending on the extent of deformation.