| 摘要 |
<p>PURPOSE:To eliminate the need for teaching the processing order of a work to a robot previously by deciding a work to be processed from two-dimensional images of the work and executing an operation program corresponding to it selectively. CONSTITUTION:An image of a carried work is picked up by an image pickup part 9 and outputted to a video memory 17. A two-dimensional graphic arithmetic part 19 calculates the area SQ, circumferential length LH, center of gravity, etc., of the image in the memory 17 and outputs the results to a coincidence detection part 20 as two-dimensional image information TDI. The detection part 20 retrieves a work image feature memory 21 on the basis of the information to obtain an operation program number PNO from a corresponding work number and then output it to a robot operation control part 22. The control part 22 retrieves an operation program memory 23 on the basis of the number PNO to read a corresponding program, thus driving and controlling the work handling robot 16.</p> |
