| 摘要 |
PROBLEM TO BE SOLVED: To perform teaching of movements of a robot arm by anyone easily and in a short time to perform painting by maintaining a painting machine at a right location and attitude, regardless of skillfulness of a worker. SOLUTION: When a painting robot R is stated by sticking a marking tape 3 to a painting surface F according to the moving locus of a painting machine, the advancing route of the painting machine is calculated by an image processor 6 and the location and attitude of the painting machine are calculated by a distance/attitude calculator 7, based on the output signals of an image sensor 4 and distance sensors 5x, 5y which are mounted at the tip of a robot arm 2. In a controller 8, the control parameter of each axis of the robot arm 2 is outputted to a driving device 10 and the control parameter of each axis of the robot arm 2 which is moved by the driving device 10 is stored in a storage device 9 in time sequence, while a feedback control is performed so as to maintain the distance of the painting machine and the painting surface F to a prescribed value, face the painting machine to the painting surface F and move the painting machine along the advancing route. |
