Workpiece attaching method according to the articulated robot by the work positioning method and articulated robot using the work positioning method

摘要

PROBLEM TO BE SOLVED: To provide a workpiece positioning method for efficiently controlling the position and attitude of a workpiece placed at a random position in a random attitude by a simple tool and simple operation.;SOLUTION: A workpiece positioning method by a multi-joint robot including steps of: setting a predetermined region of a workpiece arranged at a random position in a random attitude to a reference portion in advance when picking up the workpiece by a hand of the multi-joint robot and positioning the workpiece at a predetermined position in a predetermined attitude; providing a holding tool holding the workpiece rotatably around an axis of the reference portion as the hand; further providing an abutment tool of a predetermined size and a predetermined shape at a predetermined position relative to the robot; holding first the workpiece rotatably around the axis of the reference portion using the holding tool; moving next the holding tool while abutting the workpiece on the abutment tool, and rotating the workpiece until the workpiece has the predetermined attitude around the axis of the reference portion; and moving then the holding tool, and arranging the workpiece at the predetermined position.;COPYRIGHT: (C)2014,JPO&INPIT