Patent ID: 6646404
Filing Date: 2003-11-11
Classification: B25J,G05B

Abstract:
A method for controlling a robot which follows a moving object conveyed by a conveyor and which performs a predetermined action on the moving object, the method comprising the steps of:detecting the moving object; obtaining a detected position of the moving object in a conveyor coordinate system from the result of the detection; sequentially updating a current position of the moving object in the conveyor coordinate system on the basis of the detected position of the moving object and the amount of movement of the conveyor; transforming the current position of the moving object in the conveyor coordinate system to that in a robot coordinate system; forming a following path for the robot to follow the moving object, on the basis of the transformed position; determining whether or not designated-position data included in a motion command in a user program to be executed are described in the conveyor coordinate system: forming a following path for the robot to follow the moving object at a position designated by designated-position data included in the motion command, when it is determined in the determining step that the designated position data are described in the conveyor coordinate system; and making the robot start a following motion along the following path.