WORK LINE SEARCHING METHOD AND ROBOT/SENSOR SYSTEM HAVING WORK LINE SEARCHING FUNCTION

摘要

A work line searching method which makes a robot approach a work start position automatically, and a robot/sensor system which has a work line searching function. A robot which has a laser sensor and an operation tool on an end part approaches a work start position (Q1) through various searching path patterns (a - d). The pattern (a) is so determined as to avoid an obstruction (F) and an obstructive shape part (G). The trajectory can be determined by, for instance, designating the coordinate axes of a coordinate system (w). The patterns (b and c) can be realized by teaching the robot the data by which the trajectory can be successively determined. The pattern (d) can be realized in such a manner that an initial vector <V1>, a rotation angle and a norm increase factor are set with parameters and, when the (i + 1)-th (i = 0, 1, 2, ...) incremental movement value is calculated, a vector <Vi+1> is determined from the previously calculated vector <Vi> in accordance with the relations (rotation and the multiplication by the norm) shown and <Vi+1> - <Vi> is determined as the (i + 1)-th incremental movement value.