| 摘要 |
PCT No. PCT/JP94/00808 Sec. 371 Date Jan. 4, 1995 Sec. 102(e) Date Jan. 4, 1995 PCT Filed May 19, 1994 PCT Pub. No. WO94/27791 PCT Pub. Date Dec. 8, 1994.An attitude control method of a visual sensor (3) utilized for a robot (1), with the object of simplifying the teaching operation for adjusting the attitude of the visual sensor, enabling continual control of sensor attitude, and obtaining highly reliable measuring accuracy of the sensor for detecting positions of objects. The positions of a starting point and an end point on a path of the tool (2) through which the tool moves are taught. The initial attitude data representing the attitude at the starting point of the visual sensor (3) are memorized. The moving attitude data representing the attitude of the visual sensor when the tool moves through the path are periodically sampled and memorized. The attitude of the sensor (3) is controlled so that the attitude of the sensor after sampling the moving attitude data at each sampling time matches the attitude represented by the initial attitude data, based on both the initial attitude data and the moving attitude data. By following the above steps, the attitude of the sensor is controlled so that the visual center P of the sensor matches a junction point between two objects (4,5) to be detected by the sensor when the tool moves.
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