| 摘要 |
A multi-axis industrial robot (1) cancels the positioning error between the multi-axis robot and the parts (9,11) to be assembled and synchronizes its movement with that of the assembly line conveyor belt (8). The positioning error can be cancelled by freeing predetermined movable parts (3,4,5,) of the robot (1) for a particular period of time during a critical assembly operation of the robot to allow the freed movable parts to conform to the shape and movement of the part to be assembled while the remaining movable part(s) is driven under a predetermined active control procedure which performs the actual assembly operation. <IMAGE> |
