Robot control method

Abstract

Abstract PURPOSE: To conduct proper work with one program regardless of the feed sequence change of an object by extracting the action information stored in a memory in response to the object recognized by a visual camera, and applying the work to the object according to the action information. CONSTITUTION: Hands 14a-14c on a hand table 9 are identified by a visual camera 2b, and their positions and attitudes are written in the memory area of a controller 4. A part 21 flowing on a conveyor 10 is photographed by a visual camera 3a or 3b, and its feature is extracted to identify the part 21. The hand and action corresponding to the part 21 are then determined. When a robot moves for selecting the determined hand on the hand table 9, the holding position of the part is measured and stored based on the information and type of the part 21 obtained in advance. After the hand is selected and automatically fitted, the part 21 is held by the hand, and the work is applied to the part 21 according to the operation program. COPYRIGHT: (C)1989,JPO

Inventors

• 👤 Megumi Karashima
• 👤 Maki Arao
• 👤 Kazuaki Shoji

Bibliographic Details