| 摘要 |
PURPOSE:To eliminate the necessity for instructing an advance relative coordinate system information of a relative coordinate system and storing it in a storage part, by deriving directly relative coordinate information of a relative coordinate system on a work object by using a robot itself for executing a work. CONSTITUTION:An absolute coordinate system of a robot 11 consists of an X axis Xa, a Y axis Ya and a Z axis Za, with an original Oa as the standard. On the other hand, a relative coordinate system of a work object 12 and an X axis Xr, a Y axis Yr and a Z axis Zr of the relative coordinate system, with an origin Or as the standard, P1 is an arbitrary point on the Xr axis, and P2 is an arbitrary point on the Yr axis. In this constitution, by carrying the fingers 111 of the robot to the origin Or of the relative coordinate system, the point P1 on the Xr axis, and the point P2 on the Yr axis,position information of these three points in the absolute coordinate system for the robot is derived. Based on the obtained position information of Or, P1 and P2, coordinate system relative coordinate information related to a position and an attitude on the robot absolute coordinate system of the relative coordinate system is derived.
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