| 摘要 |
<p>A method and a device for automatically adjusting the working position of a robot automatically corrects for discrepancies in the position of each workpiece according to signals from a position detector provided at the working end of the robot. The working end of the robot is positioned by a servo system which consists of a pulse distributor (20), a deviation counter (21), a drive unit (22), and a speed detector (23) on the basis of target position data from a memory (19) and present position data from a present position register (25). After the positioning, discrepancies in the position of the working end of the robot with respect to the workpiece are detected by a detector (26), and a selective reader (30) is operated by a discriminator (27) and a controller (29). The reader (30) outputs correction data RST1-RST12 corresponding to the discrepancies the positions to a movement data calculator (17), this is used to correct the discrepancies in the positions.</p> |
