| 摘要 |
PURPOSE:To reduce a quantity processed by a visual sensor, by arranging an object to be targeted at a prescribed position in the visual sensor, teaching the coordinate values of two specific points on the object to be targeted to a robot, in a teaching time, and arranging the object to be targeted in the visual field of the visual sensor in a reproducing time. CONSTITUTION:In the teaching time, an operator arranges a pallet 44 on which a work 45 is placed at the prescribed position within the visual field 46 of an image pickup device 14, and next, inputs a teaching command from a keyboard 17. A microprocessor 11 stores one picture share of a digital picture outputted from an AD converter 15 at a frame memory 16, and finds the X and Y coordinates of reference holes P1 and P2 provided on the pallet 44, based on the digital picture, and transfers them to a robot control part 2 side through an interface circuit 13. And by correcting a numeric value data to control the operation of the movable part of the robot based on a taught coordinate value and the coordinate value informed in the reproducing time, it is possible to execute a work for the object to be targeted even when the position of the object to be targeted in the reproducing time is different from that of the object to be targeted in the teaching time.
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