JPS646719A - Robot hand position controller - Google Patents

Abstract

PURPOSE:To obtain a robot with a high working reliability, by detecting a relative position between an object work and a robot hand with a reference light source angle detection sensor to perform a position control of the hand directly. CONSTITUTION:A command section 11 commands a robot 3 to move to desired positions (x, y, z) where work 9 is carried and a coordinates conversion section 13 calculates angles theta1, theta2 and theta3 made between an origin reference light source 5 and first, second and third reference light sources 6, 7 and 8 at the position of a reference light source detection sensor 1 to make theoretical values theta11, theta12 and theta13. An angle calculating section 17 inputs an output of the sensor 1 to calculate theta1-theta3 and a corrector section 13 issue a command for a driving section 14 to make the outputs theta1-theta3 of a detecting section 13 coincide with the outputs theta11-theta13 of the coordinates converter section 12. By the command, the driving section 14 drives the hand 2 to perform a position control. This enables accurate control of the position of a robot hand with respect to work regardless of any change in the relative positional relationship between the work and the robot.