| 摘要 |
PROBLEM TO BE SOLVED: To detect the control position and the attitude of a working robot with respect to a work, to efficiently correct the teaching data based on this detected information, and to improve the rate of operation of the working robot. SOLUTION: In the installation condition detecting method, the work origin coordinates system RefW set on a work is obtained by measuring the coordinates of mirrors 30a-30c by a measuring machine (Steps S1, 82), a working robot is operated to move end effectors to arbitrary three points, and the coordinates with respect to three work origin coordinates system RefW are obtained (Steps S3, S4). The position and the attitude of the working robot origin coordinates system RefW are obtained from these three coordinates (Steps S5, S6).
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