Coordinate system setting method, coordinate system setting apparatus, and robot system with coordinate system setting apparatus

摘要

A coordinate system setting method configured to establish a conveyor coordinate system (66) having a predetermined relationship with a base coordinate system (68) of a robot (16) as a coordinate system for defining a position of an object on a conveyor (12) in a system (10) a configuration in which a position of the object conveyed by the conveyor (12) is detected and the robot (16) performs work on the object based on a detected position, the method comprising: providing a movable part (72) the conveyor (12) having a plurality of features (74) having a fixed positional relationship with each other, the movable member performing an object conveying operation; providing the robot (16) with a sensor (76) capable of a position detecting contactlessly of each of the plurality of features (74); detecting positions of at least two features (74 by the sensor (76) when the movable part (72) is in a first operating position and obtaining the detected positions as at least two first coordinates (P1, P2) in the base coordinate system (68); 72) performs the object conveying operation from the first operating position to a second operating position; detecting a position of at least one feature (74) by the sensor (76) when the movable member (72) is in the second operating position and obtaining a detected position as at least one second coordinate (P3) in the base coordinate system (68); anddetermining the conveyor coordinate system (66) based on a direction (a) of the object conveying operation, the at least two first coordinates (P1, P2), and the at least one second coordinate (P3).