Patent ID: 10625425

Abstract:
An objective is to provide a position and posture adjustment method capable of promptly adjusting the position and the posture of a robot with respect to a workpiece while making variations caused by the operator small. The position and posture adjustment method includes provisional teaching step S1, marker installation step S2 of installing a marker having a head cut conical shape in the workpiece, an initial movement step S3 of moving an arm distal end portion such that the irradiated positions of three laser displacement gauges are arranged within the end surface of the marker, posture modification step S4 of moving the arm distal end portion such that the measured values of the three laser displacement gauges become close to one another, approach step S5 of bringing the arm distal end portion close to the marker along the Z axis, alignment step S6 of causing an axis of the arm distal end portion and a marker axis to coincide with each other by moving the arm distal end portion parallel along a plane perpendicular to the Z axis such that the measured values of the three laser displacement gauges become close to one another, and positioning step S7 of adjusting the position of the arm distal end portion by moving the arm distal end portion along the Z axis.