To detect and correct a displacement which may be generated when a positioning robot and a working robot operate collaboratively.
An automatic operation system has: a positioning robot 100 equipped with a holding tool 105 and an inertia sensor 106 in the front end of its arm; a working robot 200 equipped with a working tool 205 in the front end of its arm; and a robot controller 300. The holding tool 105 holding a workpiece through the positioning robot 100 is carried to a reference position P0 for positioning the holding tool 105 according to a working position of the workpiece. When the working robot 200 does a predetermined work to the workpiece, the robot controller 300 detects a displacement amount ΔP1 from the reference position P0 for positioning the holding tool 105, based on the inertia force of the inertia sensor 106, and based on the detected displacement amount ΔP1, the reference position for positioning the holding tool 105 is corrected to the position P0 before the displacement.
INADA TAKAHIRO
SASAKI MOTONOBU
KAJIWARA SHINJI
| JP2008296310A | 2008-12-11 | |||
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| JP2006187826A | 2006-07-20 | |||
| JPH04322995A | 1992-11-12 | |||
| JP2005144615A | 2005-06-09 | |||
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| JP2007160437A | 2007-06-28 | |||
| JPH04322995A | 1992-11-12 |