| 摘要 |
PURPOSE:To automatically teach edges, marked-off lines, etc., to a robot, by determining a plane from three points including a point sensed on a line and storing the data of a point included in the plane and to be sensed next as positional data. CONSTITUTION:In the first place, a sensor is positioned to three points P00, PE0, and PE1 on a sample in the described order by operating a manual switch and their positional data and attitude data are taken. Then a local coordinate system X is determined by using the positional data of the three points and, at the same time, teaching intervals Lx and Ly are found. After the teaching intervals are found, the first detection starting point Q0 is found. Then a computer determines a new local coordinate system and finds the next detection starting point Qn+1. Thereafter, the sensor is positioned to the point Qn+1. After positioning the sensor to the position Qn+1, the sensor is moved in the direction of Y-axis of the local coordinate system and an edge is detected. Then the positional data of the point on the edge are taken and attitude data are calculated and taken at the point. |
