| 摘要 |
PURPOSE:To cope with the variation of a work site by the minimum work by calculating a coordinate transform matrix for converting the position of a work point of each robot based on a coordinate system basing upon a work object as a reference, to a position corresponding to a reference coordinate system. CONSTITUTION:The titled deice calculates coordinate transform matrixes [R1W1]-[R3W1] for transforming a mentioned work point, based on a coordinate system W1 referencing a work object 2, to the position of work points corresponding to coordinate systems R1-R3 based on robots 4-6 as a reference. Subsequently, a reference coordinate system K based on a work cell 10 as a reference is set, and by using a matrix [KW1] which is obtained already, the arrangement of the robot 4 is calculated by [R1K]=[R1W1][KW1]<-1>. Next, the same operation is performed to the matrix [R2W1] and [R3W1], as well, as well, and an arrangement of the robot 5 and 6 is calculated by [R2K]=[R2 W1][KW1]<-1>, and [R3K]=[R3W1][KW1]<-1>. In this way, the coordinate matrix [KW] or [RK] is calculated, and made to cope with the variation of the arrangement.
|
