| 摘要 |
PCT No. PCT/JP94/01509 Sec. 371 Date May 2, 1995 Sec. 102(e) Date May 2, 1995 PCT Filed Sep. 12, 1994 PCT Pub. No. WO95/08143 PCT Pub. Date Mar. 23, 1995An industrial-robot teaching program is prepared off-line without using a robot. Then, cameras serving as vision sensors are mounted on a wrist flange of the robot to obtain measured position data for a teaching point P1. The teaching point P1 is on a workpiece in a sensor coordinate system and is detected by the vision sensor. The position data for the teaching point in the teaching program is converted into position data in the sensor coordinate system. Next, an error of the robot wrist flange coordinate system is estimated in accordance with a difference between measured position data for the teaching point and converted position data in the teaching program. Then, the teaching point data included in the teaching program is corrected based on the estimated error of the robot wrist flange coordinate system. The vision sensor may also be attached to an end effector of the robot.
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