Arrangement on an industrial robot

摘要

The invention relates to an arrangement on an industrial robot which is used for performing an operation on a workpiece (10). According to the invention, a sensor (S) is fastened to the robot hand (8). The sensor (S) senses the distance between the robot hand and the workpiece by means of optical triangulation. The robot is provided with control elements (RC) which control the robot hand during a first preprogrammed search movement in a direction which has a component parallel to the workpiece surface facing the robot hand. Furthermore, there are signal-processing elements (SC) which, with the aid of the distance detected by the sensor during the searching, determine the position of the workpiece in the search direction relative to the robot. <IMAGE>