| 摘要 |
PURPOSE:To match coordinates highly accurately by matching respectively different coordinates of a robot and an area sensor only with the coordinates of the robot on the basis of the chacking position X, Y coordinate data of the robot and picture information data. CONSTITUTION:When a fine substance is located on a position H, the coordinates of the area sensor 3 are x1, y1 and the coordinates of the robot are XH, YH. In the figure, the F point is the original point of the coordinates of the sensor 3, the C point is the current position of a robot chack, XO, YO are the original point of the sensor and the offset variable of the robot chack, and XR, YR are the moving variable of the robot at the picking of the fine substance. In addition, theta is the twisted angle of two coordinates. Thus, the formulas are formed from said relation. In these formulas, values XR, YR, x, y are obtained from the robot and the sensor 3 and five parameters XO, YO, BY, YR, are unknown quantities (SX and SY are scale ratio of the robot coordinates in the X and Y directions to the sensor 3). If the point H is moved to optional three points, XR1-XR3 and YR1-YR3 are found out. |
