| 摘要 |
The process enables handling a part (3) from a waiting post (1) to a processing post (2) in which the position of certain singular points (31,32,33) of the part in the waiting post is inexactly known about a marked reference. The part must be received in the processing post in certain singular points (21,22,23) the position of which is inexactly known. A gripping robot (10) is used which is programmed to follow alternately trajectories between two ends of known co-ordinates (P1,P2) relative to the reference positions. The robot is equipped with sensors able to locate the gaps between the actual position of the singular points of the part and those of the processing post and the corresponding known end of the trajectory. The robot then follows a corrected trajectory as a function of the located gaps so as to modify the co-ordinates of its end at right angles to the processing post and make the part coincide with the reception means in the processing post. |
