ROBOT CONTROL APPARATUS

摘要

A robot control apparatus for controlling the movement of an arm (7) of a robot (6) with respect to a workpiece (2) transported upon a pallet (1) moving down an assembly line, wherein the position of the arm of the robot is compensated for in accordance with the position of the workpiece. A reference position memory stores a reference position of one of the pallet and workpiece. A position detector (16, 17) detects the position at which the pallet of workpiece is clamped along the assembly line. A difference between the outputs from the reference position memory and the position detector is used to correct a value stored in a work position memory to thus provide the output data which controls the movement of the arm of the robot.