Patent ID: 6321139
Filing Date: 2001-11-20
Classification: B25J,G05B

Abstract:
An operation line searching method for a robot/sensor system having a robot, a robot controller and a sensor mounted on said robot for detecting an operation line of an object of operation, so as to perform a predetermined operation by moving a tool supported by said robot along said operation line based on a signal outputted from said sensor, said method comprising:determining a search motion for finding a position of said operation line using said sensor by moving said tool closer to a predetermined start position of operation, wherein said search motion includes a component of motion in a direction crossing an extending direction of said operation line in the vicinity of said start point of the operation line;starting said search motion determined in said determination of said search motion; andterminating said search motion when said sensor detects a shaping element of said object of operation during said search motion, said shaping element defining said operation line.