METHOD FOR CONVERTING VISUAL SENSOR COORDINATE SYSTEM INTO ROBOT BASIC COORDINATE SYSTEM

摘要

PURPOSE:To decrease the teaching errors with a robot by setting an intermediate coordinate system having its Z axis which is parallel to the optical axis of a visual sensor and the Z axis of a visual sensor coordinate system and teaching the conversion information between a robot coordinate system and said intermediate coordinate system to the robot. CONSTITUTION:The robot of a system consists of a robot main body 1 and a numerical controller 2. An arm 4 which can move forward and backward in the direction of a ZR axis (vertical to the form surface) of the robot basic coordinate system and can turn toward theta is set on a pedestal 3 of the robot main body 1. Then a rotary handle 5 is set at the tip of the arm 4 and at the same time a mark 7 is held by a holding mechanism 6 set at the tip of the handle 5. The centroid of the upper surface of the mark 7 is set opposite to a sensor part 8. Then the mark 7 is operated by an operating board of the controller 2. A visual sensor consists of a sensor controller 9 and the part 8. Then an intermediate coordinate system having its Z axis parallel to the optical axis of the part 8 and the Z axis of the visual sensor coordinates is set in a viewfield by the shift of the mark 7. The conversion information between the basic coordinate system and the intermediate coordinate system is taught to the robot. In such a way, the teaching errors can be decreased.