Teaching point correction apparatus and teaching point correction method

摘要

PROBLEM TO BE SOLVED: To provide a teaching point correction device and a teaching point correction method capable of accurately performing three-dimensional position correction.SOLUTION: The teaching point correction device includes: a sensor unit 3 having a position sensor 32 and a camera 33 the direction of which is matched with the position sensor 32; a measurement control unit for controlling the measurement operation by the sensor unit 3 in cooperation with a robot 2; and a teaching point correction unit for, on the basis of positional data of the position sensor 32 and image data of the camera 33, calculating the amount of displacement of an operation target workpiece 4W with respect to a reference workpiece 4M, and correcting a teaching point (IO, IP). On the basis of the positional data and the image data obtained with the direction to be detected by the position sensor 32 being fixed, the teaching point correction unit calculates the amount of displacement by six-degree-of-freedom components (&Dgr;x, &Dgr;y, &Dgr;z, &Dgr;&thetas;x, &Dgr;&thetas;y, &Dgr;&thetas;z) composed of parallel movement components of three axes orthogonal to each other and rotational components of the three axes.