| 摘要 |
PURPOSE: To improve the precision of the tracking operation of a robot by utilizing a visual sensor. CONSTITUTION: Once a work W is detected by the sensor 4, the current pulse code counted output value Ns is stored. Then arrival at an instructed photography position is detected from the incremental quantity from the Ns of the pulse coder counted value N, photography by a camera 30 is performed, and the quantities of deviation of two points Wa and Wb on the work W from a reference position are found. When the work W reaches a tracking start position 60, a tracking coordinate systemΣtr begins to move and the tracking operation of the robot RB is started. During the tracking operation, the robot position is corrected so as to compensate the detected position deviation quantities. The robot RB approaches and reaches the work W along the track shown by 90. When the work W reaches a position Q0, gripping operation by a hand is performed. When the work W reaches a tracking end position 70, the tracking operation of the robot RB ends. The robot RB moves to an instructed point Q2 according to a normal track plan and the hand is opened to release the work W.
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