Image processing program automatic generation method for robot, that device and robot program automatic adjustment manner

摘要

PROBLEM TO BE SOLVED: To provide the automatic image processing program generating method, etc., for a robot which can automatically generate an image processing program for corresponding with solid body differences of a work to be operated. ;SOLUTION: Teaching points whose positions need to be measured with precision are extracted from a robot program which is taught previously about a master work (step S101) and the kinds of straight lines and curves such as arcs that the respective teaching points and the coordinate values of teaching points specifying the ranges of the curves such as end points of the curves are extracted from the kinds of operation instructions including the extracted teaching points (step S102). The extracted coordinate values (robot coordinate system) of the extracted teaching points are converted into coordinate value on the screen of a video camera (step S103) and the image processing program is generated which detects the curves corresponding to the respective teaching points in an image photographed by the video camera on the basis of the converted coordinate values of the respective teaching points and the kinds of the curves that are belonged to find the actual positions of the respective teaching points as their intersections.;COPYRIGHT: (C)1998,JPO