A path planning method for a robotic arm array-based pick-and-place and compensator for use in the method

摘要

A method for path planning an array-based pick-and-place performed with a robotic arm is characterized by: during each operation of the pick-and-place process performed with the robotic arm, detecting an X-axis position sensor (12) and Y-axis position sensor (14) A coordinate error of a pick-and-place point, so that a controller calculates a position compensation value according to the vector sum of the coordinate errors, corrects the pick-and-place position of the robot arm according to the position compensation value, and the Coordinates of the next pick-and-place point generated. By repeating the procedure above, it is possible to perform array-based pick-and-place tasks completely.