| 摘要 |
PURPOSE: To convey workpieces using a robot and position the workpieces in the specified positions of trays moving in one after another. CONSTITUTION: To a first reference tray, a reference position obtaining process 200 for obtaining the position of the reference tray to a robot body is performed. From a second tray onward, a process 201 for obtaining the slippage of each tray from the reference position so as to obtain the action quantity of the robot body required to move a workpiece into the specified position of each tray, and a process 202 for operating the robot body on the basis of the data obtained in the process 201 are performd. The reference position obtaining process 200 is performed mainly through calculation by processing data obtained by changing the position of a column part on the basis of the XYZθorthogonal coordinate system robot body and performing a first and second robot body manual operating action processes 200-5 , 200-6 .
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