| 摘要 |
PURPOSE:To attain the high function of a robot by obtaining two specific straight lines by a prescribed method, obtaining the ratio in length from an origin to a point at which the respective specific straight lines cross the visible outline of a work and deciding the attitude of the work by an angle formed by the specific straight line having the ratio in length nearer to the ratio in length previously registered every work and the coordinate system of a robot visual device. CONSTITUTION:The characteristic angle theta previously registered every work is called out, the two specific straight lines L1, L2 passing through the origin or the center of gravity G and having an inertia main axis Xw and an angle of + or -theta are obtained and further, the length from the center of gravity to the point at which the specific straight lines L1, L2 respectively cross the visual outline of the work W is obtained. Namely, on the specific straight line L1, respective L11, L12 are obtained and on the specific straight line L2, respective L21, L22 are obtained. Then, the ratios of segments L11/L12 and L21/L22 are obtained and the specific straight line L1 nearer to the ratio of the segments registered every work is selected. Herein in the case of L11/L12>1, the L11 side is set to +. Accordingly, the angle theta' formed by the specific straight line L1 and the coordinate system Xv of the robot visual device is obtained, thereby, the attitude of the work W can be decided.
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