| 摘要 |
<p>An industrial robot (1-10) is arranged to position workpieces (OP) in a unidimensional or multidimensional pattern or to collect workpieces located in such a pattern. The robot is first controlled to a predetermined preliminary position (e.g. P'O) and thereafter to its final position in the pattern by way of sensing members (9). The preliminary position for a workpiece is calculated with the final position of an adjacent workpiece as the starting point. To this position is added a vector corresponding to the spacing of the pattern. The spacing is calculated as the difference between the coordinates for the final positions of two workpieces located adjacent to the workpiece in question.</p> |
