| 摘要 |
PURPOSE:To reduce the cost of a jig and to shorten an operation time by detecting three points of a reference work and three corresponding points of another work which shifts in position, and performing coordinate conversion. CONSTITUTION:A welding robot sets the objective reference work 1 at some position, and welding programs PROG1 and PROG2 using the coordinate system based upon the reference work 1 are generated by teaching. Simultaneously, a conversion matrix M1 from three points, i.e. points W2 and W3 and an intersection W1 on the coordinate axes of said coordinate system is obtained. Then, another work 2 is set at a different position, and a conversion matrix M2 is obtained as mentioned above. A coordinate conversion matrix M2.M1<-1> from the reference work coordinate system to another work coordinate system is obtained, and when said three points W1-W3 and Q1'-W3' after conversion are within the same areas, the robot is played back to the latter work 2 according to the previously stored welding programs PROG1 and PROG2. |
