ATTITUDE CONTROL OF VISUAL SENSOR OF INDUSTRIAL ROBOT

摘要

PURPOSE: To continuously control an attitude of a visual sensor automatically and to improve reliability by controlling the position of the visual sensor so that an object detected by the visual sensor is in the center of vision of the visual sensor in accordance with movement of a tool. ;CONSTITUTION: At the time of one movement during the time when a visual sensor 3 integrated with a welding torch 2 welds two sheets of iron plates, xi shows an axis passing through a head end point of the welding torch which is a tool and a central point of vision of the visual sensor 3 and becoming the forwarding direction of the visual sensor 3, zi shows an axis connecting a point and the central point of the visual sensor 3 and yi shows an axis vertical with the xi axis and the zi axis respectively. Additionally, xo, yo, zo show each of the axes found at the time of starting movement of the welding torch 2. After each of the axes xi, yi, zi is measured at the time of each sampling, an attitude of the visual sensor 3 is controlled by rotating it around each of axes (x), (y), (z) so that each of the axes xi, yi, zi comes to be in parallel with each of the axes xo, yo, zo.;COPYRIGHT: (C)1994,JPO