COORDINATE SYSTEM ALIGNMENT METHOD, ALIGNMENT SYSTEM, AND ALIGNMENT DEVICE FOR ROBOT

摘要

Provided is a system for aligning a robot coordinate system with a measuring instrument coordinate system. The system is provided with: an operation space coordinate system setting unit 31 that determines a relationship between an operation space coordinate system and the robot coordinate system through teaching of the positions of a first reference point A positioned at the origin of the operation space coordinate system, a second reference point B and a third reference point C on two lines through the first reference point; a projection line obtaining unit 432 that obtains a projection line by emitting slit light from a three-dimensional measuring instrument 4 toward a reference object 52 fixed to a plate-like member 51 arranged parallel to a plane on which two of three orthogonal axes defining the operation space coordinate system are placed, in such a way that all sides are parallel to the three orthogonal axes respectively; a measuring instrument attitude calculation unit 433 that obtains the attitude of a three-dimensional measuring instrument 30 relative to the reference object 52 on the basis of a profile of the projection line; and a measuring instrument moving unit 3 that moves the three-dimensional measuring instrument 4.