Manufacturing method and manufacturing device for manufacturing a joined piece

A manufacturing method for manufacturing a joined piece involving operating a robot according to pre-inputted instruction data to join a first member to a second member to create the joined piece, the method comprising:

• operating the robot so as to hold the second member at a holding position and photographing the second member using a camera to obtain a first positioning image of the second member at the holding position;
• comparing the first positioning image to a reference image taken by a camera of a joining position of a reference second member joined to a reference first member;
• determining a deviation amount by which the holding position of the second member deviates from the joining position in the reference image based on comparison results thereof;
• determining, based on the deviation amount, a correction amount by which the holding position of the second member is to be corrected in order to reduce the deviation amount of the holding position of the second member;
• and
• correcting the holding position of the second member according to the correction amount, and then subsequently joining the second member to the first member to form the joined piece;
• photographing the second member after the joining of the second member to the first member to obtain a joined image of the second member, comparing the joined image obtained thereby to the reference image, and confirming weather the second member joined to the first member is within a predetermined permissible range;
• correcting the instruction data for the robot to the position of the second member yielded by the correction amount for the holding position of the second member that was determined when the joining position of the first member and the second member is confirmed to be within the permissible range and
• in response to correcting the instruction data to within the permissible range, welding the first member and the second member together.