| 摘要 |
PURPOSE:To detect the position shift quantity of a work by detecting the movement of plural detection points in the moving direction of the work over the entire operation range of a robot, and processing data on it and computing the distances between the detection points. CONSTITUTION:Linear image sensors 1A-5A, and 1B-5B detect the movement of plural detection points in the moving direction of the work (automatically body) 6 over the entire operation area of the robot. Those data are processed by an arithmetic unit 12 through converters 7B-11B to compute the distances between the detection points by levels. Then the distances are compared with existent data stored in a storage device 13 to know how much the position or attitude of the work 6 deviate from the reference position or attitude.
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