| 摘要 |
PURPOSE:To obtain relative relations between a visual coordinate system and a hand coordinate system accurately with an easy operation by recognizing a light point, which is generated on a work table by a light emitting device attached to a hand part position, with a recognizing device attached to a robot. CONSTITUTION:Visual coordinate values of a light point A are recognized by a visual device 7. On the basis of relative relations between the visual coordinate system and the robot coordinate system which are obtained already, a deviation of the relative position of the light point A from an intersection B between the optical axis of the device 7 and a work table 2 in the robot coordinate system is obtained. After recognition, the first arm 4 is so moved that a work 8 enters a visual field 9 of the device 7, and coordinates of a center C of the work 8 in the visual coordinate system are recognized by the device 7 and are converted to a deviation of the relative position of the point C from the point B in the robot coordinate system. As the result, positional deviations DELTAx and DELTAy between points A and B in the robot coordinate system are obtained. The arm 4 is moved in (x) and (y) directions by DELTAx and DELTAy in the robot coordinate system respectively to move a hand 6 to the grasping position of the work 8, and an arm 5 is allowed to fall to grasp the work. |
