| 摘要 |
PURPOSE:To make a robot usable easily even if the working place is under water, by detecting the change of a model which makes the same change as the work while the same is worked. CONSTITUTION:A model 10 which makes the same deformation in the deforming state of the work while the same is worked is beforehand prepared, and the model 10 is operated according to the working of the work with a robot. The change in the model 10 is detected and the detection signal X thereof and the set signal Y from a setter 11 are compared and calculated in an comparing calculator 12. The compared signal Z from the calculator 12 is applied to a robot controlling part 13. Thus, the robot side is controlled in accordance with the deformation of the model installed in a place apart from the working place, therefore, the robot is usable easily even if the working place is under water. |
