| 摘要 |
PROBLEM TO BE SOLVED: To easily adjust a position and attitude of a hand after replacement to a condition before replacement. SOLUTION: Position reference units S1, S2 are provided in parallel to an approach vector A of a tool coordinate system provided in a hand, and position reference units S1, S3 are provided in parallel to an orient vector O. In a position detector 20, a position (vectors T1 to T3) of the reference units S1 to S3 in a proper sensor coordinate system with KO serving as the origin is detected. From the vectors T1 to T3, a vector A, O and normal vector N are obtained. The vectors A, O, N and T1 are used, and 4×4 position attitude matrix [K2 ] representing a position and attitude of the hand after replacement is obtained. By multiplying this matrix [K2 ] by a transformation matrix [C], a matrix [KW2 ] in a world coordinate system is obtained. A correction matrix [ΔK] correcting [KW2 ] into a position attitude matrix [KW1 ] of the hand before replacement is obtained, [ΔK] is used, a position attitude matrix in a teach point and interpolation point is corrected, and a command rotational angle in each axis of a robot is obtained based on this corrected position attitude matrix.
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