Operation line searching method and robot/sensor system having operation line searching function

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 system comprising:

• search motion determining means 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;
• a motion unit to start said search motion;
• and
• means for terminating said search motion when said sensor detects a shaping element of said object of operation during said search motion, wherein said shaping element defines said operation line.

An operation line searching method for a robot for detecting an operation line of an object of operation, so as to perform a predetermined operation upon the object, said method comprising:

• determining a search motion for finding a position of said operation line by moving a tool attached the robot closer to a predetermined start position of operation, wherein the 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;
• and
• terminating said search motion when a sensor attached to the robot detects a shaping element defining said operation line.

A robot having a sensor for detecting an operation line of an object of operation, so as to perform a predetermined operation on said object by moving a tool supported by said robot along said operation line based on a signal outputted from said sensor, said robot comprising:

• a search motion determining unit to derive a position of said operation line, using said sensor, by moving said tool closer to a predetermined start position of operation, wherein the 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;
• a motion unit to start said search motion;
• and
• a termination unit to terminate said search motion when said sensor detects a shaping element of said object of operation during said search motion, wherein said shaping element defines said operation line pattern describing parameters set for said robot/sensor system.