| 摘要 |
PURPOSE:To perform operation at a specific operation position extremely accurately without positioning an opponent body accurately by correcting preset position information according to the attitude and position of the opponent body which is arranged roughly. CONSTITUTION:The operation position on the opponent body 10 with two reference edge parts which is based upon the peak point of the opponent body 10 as an origin is inputted and the opponent body 10a is arranged roughly at the specific operation position. A subtable is moved in an Y direction to store position information on one reference edge part of the opponent body 10a when two Y sensors detect the reference edge part, and a main table is then moved in an X direction to store position information on the other reference edge part when it is detected by two X sensors. Position information and tilt angle theta of the peak points formed by the reference edge parts of the opponent body 10a are calculated from the pieces of position information on two points in the X and Y direction and set position information on the operation position on the opponent body 10a is corrected to obtain corrected position information; and the main table and subtable are moved to perform specific operation. |
