ATTITUDE CONTROL METHOD FOR VISUAL SENSOR OF INDUSTRIAL ROBOT

摘要

An attitude control method for a visual sensor of an industrial robot (1), aiming at providing an attitude control method for a visual sensor, in which an operation of teaching an attitude of a visual sensor (3) is simplified, and which automatically controls an attitude of the visual sensor in a continuous manner and has a highly reliable accuracy of measurement. The method comprises the steps of teaching positions of a tool of movement starting and movement terminating points on a path, along which the tool (2) moves (first step), storing initial attitude data indicative of an attitude of the visual sensor (3) at the movement starting point (second step), sampling and storing moving attitude data indicative of an attitude of the visual sensor when the tool moves along the path (third step), and controlling at each sampling an attitude of the visual sensor on the basis of the intial attitude data and a moving attitude data so that an attitude of the visual sensor at the time of each sampling matches an attitude based on the initial attitude data (fourth step). With this arrangement, an attitude of the visual sensor is controlled so that, as the tool moves, a junction P of two objects (4, 5) detected by the visual sensor constitutes the center of vision.