| 摘要 |
PURPOSE:To attain an easy connection between a position correcting system and an assemling robot of any position by detecting the relative positional relation between a subject recognized by a visual camera and a reference position of the camera and selecting and supplying the desired shift direction and a stepped shift amount out of those stored previously to correct said relative positional relation. CONSTITUTION:When a plug is put into a socket 4 of a personal computer 7, a visual camera 6 fixed to a robot arm 8 moves up to a reference position (a point near the center of the socket 4) which is set previously by teaching. The pictures near the center of the socket 4 are sent to a picture processing part 9, and the relative position relation is calculated between the center of the bracket 4 and that of a picture camera 6. Based on this calculation, the desired shift directions and stepped shift amounts are selected among those stored previously are sent successively to a robot control part 10 from an output terminal 9a in the form of ON/OFF signals. Thus the position of the camera 6 is corrected, and the center of a plug 5 is shifted to the corrected position of the camera 6. This correcting system can be connected to all assembling robots. |
