Robot with self teaching of a linear reference position

摘要

A robot control system has a robot hand movable along a plane according to position data determined in terms of an absolute coordinate system related to the plane for acting on a workpiece which is arbitrarily positioned on the plane and which is provided with a linear reference pattern. The robot hand is swept along a predetermined locus on the plane according to programmed position data to determine the position of the workpiece. A detector mounted on the hand moves relative to the plane together with the hand for detecting the linear reference pattern whenever the hand crosses the linear reference pattern during the sweep movement of the hand to produce a corresponding detection signal. A read circuit operates in response to the detection signal for reading position data representative of a plurality of crossing points between the locus and the linear reference pattern in terms of the absolute coordinate system, and a processor processes the read position data to determine a position of the workpiece relative to the plane.