| 摘要 |
PURPOSE:To make it possible to exactly position a working robot in relation to a workpiece by attaching a sensor for measuring relative displacement quantity to the swivel arm of the working robot. CONSTITUTION:The relative displacement quantity of the workpiece W carried into an assembly station 1 in relation to a working robot is measured with the workpiece W fixed to a pallet and the acting position is adjusted on the basis of the measurement. Then, to the swivel arm of the robot is attached a sensor 3 for measuring the relative displacement quantity as a translation displacement quantity (Xs, Ys) of a reference point P on the workpiece W in an X axis direction and a Y axis direction and a rotary displacement quantity thetas of the reference point P. Even with the case of an error in the clamping position of the workpiece W to a pallet or in the workpiece stopping position in an assembly station, therefore, the working robot can be exactly positioned in relation to the workpiece W.
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