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Robot teaching apparatus

  • US 6,763,284 B2
  • Filed: 12/05/2001
  • Issued: 07/13/2004
  • Est. Priority Date: 12/07/2000
  • Status: Active Grant
First Claim
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1. A robot teaching apparatus comprising:

  • a teaching robot provided with projecting means for projecting a slit light or a spot-light on a stationary reference object as a pattern light;

    a camera to obtain teaching points for a working robot for performing working along a working line on the object, means for, from an image of the camera about a face of the object on which the pattern light is projected, obtaining a 3-dimensional position and an attitude of the face;

    means for specifying points constituting the working line on the image of the camera; and

    means for obtaining 3-dimensional positions of the specified points constituting the working line on the basis of the 3-dimensional position and the attitude of the face, and the positions of the points constituting the working line on the image of the camera.

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