Work robot control method and work robot

Abstract

PROBLEM: To solve the problem of deviation of coordinates generated when correcting an operation route for a work robot on the basis of position information acquired by a position information measurement device. SOLUTION: Provided is a work robot control method including: a step for creating a first operation route having a first teaching point p and direction change units (421-424); a step for creating a second operation route having a second teaching point P set on the first operation route, and arc routes (521-525); a step for acquiring position information at or near the second teaching point by means of a position information measurement device 30; a step for correcting the coordinates of the first teaching point on the basis of the position information; and a step for performing work by means of a work device 20 at the first teaching point of the corrected first operation route, wherein teaching point front routes (531-533) which are linear routes entering the second teaching point P as a passing point, and teaching point rear routes (541-543) are provided, and the teaching point front routes (531-533) or the teaching point rear routes (541-543) are continuous with the arc routes. Also provided is a work robot 1.

Description

Working robot control method and working robot

[0001] The present invention relates to a control method for a working robot having a first movement path and a second movement path, and to a working robot.

[0002] In industrial robots, a work device is moved along a work path to repeatedly perform the same task (e.g., coating, processing, lamination) on multiple target workpieces of the same shape, thereby reducing labor, shortening time, and improving quality in the production process. However, since the target workpieces may have individual differences in shape, etc., or deviations in installation position, performing the work without correcting the work path can result in a decrease in quality, such as the generation of defective products due to deviations in the work position.

[0003] One known solution to the above problem is to equip an industrial robot with a position information measuring device (e.g., a laser measuring device or an imaging device), acquire position information such as the distance and coordinates of each workpiece before starting a task, and feed this information back to the industrial robot's control device, allowing the robot to perform repetitive operations while reflecting corrections to the position information for each target workpiece. Acquisition of position information for multiple target workpieces is performed by setting a measurement path connecting the multiple target workpieces and moving the position information measuring device along the measurement path. However, if measurements are performed while the position information measuring device is moving at a constant speed, vibrations occur at bending points, making it difficult to acquire accurate position information.

[0004] Therefore, Patent Document 1 proposes an image measurement system that automatically generates a smooth measurement path consisting of straight lines and large-radius arcs, thereby eliminating sudden acceleration and deceleration and suppressing the occurrence of vibrations without slowing down the robot.

[0005] Patent No. 4652252

[0006] Correcting the work path of the working device based on position information acquired by a position information measuring device that moves along the measurement path reduces the rate of quality defects caused by deviations in the work position. However, there may be a discrepancy between the set coordinates set in the relative drive device on which the position information measuring device is mounted and the actual coordinates measured by the position information measuring device. There may also be a discrepancy between the set coordinates set in the relative drive device on which the working device is mounted and the actual coordinates where the working device actually performs work. Due to the difference between the set coordinates and actual coordinates that occur in the position information measuring device and the set coordinates and actual coordinates that occur in the working device, there is a problem in that even if feedback correction is performed using position information acquired by the position information measuring device, a discrepancy occurs in the actual coordinates of the working device after correction.

[0007] Furthermore, when acquiring position information while moving the position information measuring device, measurement errors may occur if the position information measuring device accelerates or decelerates, and this measurement error can cause a deviation in the actual coordinates of the work device after correction.

[0008] SUMMARY OF THE INVENTION It is therefore an object of the present invention to solve the problem of coordinate deviations that occur when correcting the movement path of a work robot based on position information acquired by a position information measuring device.

[0009] The working robot control method of the present invention comprises the following technical means: [1] A working robot control method comprising the steps of: creating a first movement path having three or more first taught points and a direction change section; creating a second movement path having three or more second taught points set on the first movement path and an arc path; acquiring position information at or near the second taught points while moving a position information measuring device along the second movement path; correcting the coordinates of the first taught points on the first movement path based on the position information; and performing work with a working device at at least part of the first taught points while moving along the corrected first movement path, wherein the step of creating the second movement path includes creating a pre-taught-point path, which is a straight path that approaches a second taught point that is a pass point, and a post-taught-point path, which is a straight path that is set immediately after the second taught point and is collinear with the pre-taught-point path, and the pre-taught-point path or the post-taught-point path is continuous with the arc path. [2] The working robot control method described in [1], wherein the pre-taught-point path is a straight path that overlaps with the first movement path and approaches the second movement point from the same direction, or a tangent to the direction change section, and is a straight path that approaches the second movement point from the same direction as the first movement path. [3] The working robot control method described in [1] or [2], wherein each second movement path that serves as a passing point of the second movement path comprises a pre-taught-point path that is a straight path that approaches the second movement point, and a post-taught-point path that is a straight path collinear with the pre-taught-point path. [4] The working robot control method described in any of [1] to [3], wherein in the step of creating the second movement path, a pre-arc straight path and a post-arc straight path are provided for all circular arc paths. Here, it is preferable that the pre-arc straight path and the post-arc straight path have lengths that can suppress vibration.[5] The second taught point serving as the passing point includes a second taught point A and a second taught point B adjacent to the second taught point A, the arc path includes an arc path A and an arc path B, the pre-taught point path includes a pre-taught point path A which is a straight path approaching the second taught point A and a pre-taught point path B which is a straight path approaching the second taught point B, and the post-taught point path is the same straight line as the pre-taught point path A provided immediately after the second taught point A. A working robot control method according to any one of [1] to [4], characterized in that it includes a taught point post-path A that is a straight path on a line, and a taught point post-path B that is a straight path collinear with the taught point pre-path B and is provided immediately after the second taught point B, wherein the taught point post-path A functions as a pre-arc straight path A that is continuous with the arc path A, and the taught point pre-path B functions as a post-arc straight path B that is continuous with the arc path B. [6] A working robot control method according to [5], characterized in that in the step of creating the second movement path, a post-arc straight path A that is provided immediately after the arc path A, and a pre-arc straight path B that is provided immediately before the arc path B are provided. [7] The working robot control method according to [5] or [6], wherein the step of creating the second movement path includes selecting, as the arc path A, a path that passes through one of the arcs of a first circle and a second circle that are tangent to and opposed to the post-teaching point path, and that satisfies a first condition that the central angle is smallest and / or a second condition that the distance is smallest, and selecting, as the arc path B, a path that passes through one of the arcs of a third circle and a fourth circle that are tangent to and opposed to the post-arc straight-line path, and that satisfies the first condition that the central angle is smallest and / or the second condition that the distance is smallest. [8] The working robot control method according to [7], wherein a no-entry zone is set in the coordinate system of the second movement path, and wherein, in the step of creating the second movement path, arc paths that do not enter the no-entry zone are selected as the arc path A and the arc path B.[9] A working robot control method according to any one of [6] to [8], wherein the arc path A is a path that passes through the arc of one of a first circle and a second circle that are tangent to and opposed to the end point of the post-taught point path A, and the arc path B is a path that passes through the arc of one of a third circle and a fourth circle that are tangent to and opposed to the start point of the pre-taught point path B.

[10] A working robot control method according to [9], wherein in the step of creating the second movement path, a combination of arc paths selected from combinations of paths that pass through the arcs of two of the first to fourth circles, that satisfy a first condition that the sum of the central angles of the arcs of the two circles is the smallest, and / or a second condition that the movement distance is the smallest, is selected as the arc paths A and B.

[11] A working robot control method according to

[10] , wherein in the step of creating the second movement path, a combination of arc paths that satisfies a fourth condition, in which the central angle of the arc of the circle adjacent to a specific second taught point is smallest, is selected from combinations of paths that pass through the arcs of two of the first to fourth circles, and is applied with priority to the first and second conditions to select as the arc paths A and B.

[12] A working robot control method according to any of [8] to

[11] , wherein the arc paths A and B include an elliptical arc path and / or an arc path of a circle consisting of compound arcs.

[13] A working robot control method according to any of [1] to

[12] , wherein two adjacent second taught points have different X and Y coordinates.

[14] A working robot control method according to any one of [1] to

[13] , wherein the step of creating the second movement path includes selecting, as the arc path A, a path that passes through one of a first circle and a second circle that are tangent to and facing the post-taught point path, and that satisfies a first condition that the central angle of the arc is the smallest and / or a second condition that the distance is the smallest.

[15] A working robot control method according to any one of [1] to

[14] , wherein the number of the second taught points is smaller than the number of the first taught points.

[16] A working robot control method according to any one of [1] to

[15] , wherein the second taught points include one or more first taught points selected from the first taught points.

[17] A working robot control method according to any one of [1] to

[16] , wherein the first movement path connects adjacent first taught points via a straight line.

[18] A working robot control method according to any one of [1] to

[17] , wherein the first movement path includes one or more paths between first taught points that do not involve movement without performing work, and all of the paths that do not involve movement without performing work are straight lines.

[19] A working robot control method according to any one of [4] to

[12] , wherein the arc-post straight-line path intersects with the second movement path located upstream of the arc-post straight-line path.

[20] A working robot control method according to any one of [1] to

[19] , wherein the step of acquiring position information involves moving the position information measuring device at a speed faster than an average movement speed of the working device.

[21] A working robot control method according to any one of [1] to

[16] , wherein the step of acquiring position information involves moving the position information measuring device at a speed three times or more the average movement speed of the working device.

[22] A working robot control method according to any one of [1] to

[21] , wherein the arc path includes an elliptical arc path and / or an arc path of a circle consisting of compound arcs.

[23] A working robot control method according to any one of [1] to

[22] , wherein the working device is a dispensing device, and in the step of working at the first taught point, the working device applies the material while moving while maintaining the same height.

[24] A working robot control method according to any one of [1] to

[23] , wherein the position information measuring device is a laser measurement device that measures the relative distance to an object to be measured.

[25] A working robot control method according to any one of [1] to

[24] , wherein the working device and the position information measuring device are moved relatively by a relative drive device that includes a first direction drive device that moves a working head on which the working device is mounted, back and forth in a first direction along a beam member, and a second direction drive device that moves a table that holds a workpiece back and forth in a second direction intersecting the first direction.

[0010] The working robot of the present invention comprises the following technical means:

[26] A working robot includes a working device that performs work on a workpiece, a position information measuring device that acquires position information of the workpiece, a relative drive device that moves the working device and the position information measuring device relative to the workpiece, and a control device that controls the operation of the working device, the position information measuring device, and the relative drive device, wherein the control device performs the following steps: creating a first movement path having three or more first taught points along which the working device will perform work and a direction change section; creating a second movement path having three or more second taught points set on the first movement path and an arcuate path; and moving the position information measuring device along the second movement path while moving the position information measuring device at or near the second taught points. A working robot that executes the steps of acquiring position information, correcting the coordinates of the first taught point on the first movement path based on the position information, and performing work with the working device at at least some of the multiple first taught points while moving along the corrected first movement path, wherein the control device, in the step of creating the second movement path, sets a pre-taught-point path that is a straight path that approaches a second taught point that serves as a passing point, and a post-taught-point path that is a straight path collinear with the pre-taught-point path and set immediately after the second taught point, and the pre-taught-point path or the post-taught-point path is continuous with the arcuate path.

[27] The working robot described in

[26] , wherein the working device is a dispensing device, and the control device, in the step of performing work, causes the working device to move while maintaining the same height while applying the liquid.

[28] The working robot described in

[27] , wherein the control device, in the step of performing work, causes the control device to continuously apply the liquid within a predetermined range of the first movement path that includes the first taught point.

[29] The working robot according to

[26] , wherein the position information measuring device is a laser measuring device that measures the relative distance to a measurement target.

[30] The working robot according to

[26] , wherein the control device has a first measurement command function that causes the position information measuring device to acquire position information at the second teaching point and a second measurement command function that causes the position information measuring device to acquire position information on a path before the teaching point, which are alternatively executed in the step of acquiring position information.

[31] The working robot according to

[30] , wherein the second measurement command function includes a function to extend the pre-taught point path forward by the distance between the second taught point and a measurement position on the pre-taught point path, and to shorten the post-taught point path by the distance between the second taught point and a measurement position on the pre-taught point path.

[32] The working robot according to any of

[26] to

[31] , wherein the relative drive device includes a first direction drive device that moves a work head on which the working device is mounted, back and forth in a first direction along a beam member, and a second direction drive device that moves a table that holds the workpiece back and forth in a second direction intersecting with the first direction.

[0011] According to the present invention, it is possible to solve the problem of coordinate deviation that occurs when correcting the movement path of a work robot based on position information acquired by a position information measuring device.

[0012] 9 is a perspective view showing a working robot according to a first embodiment; FIG. 10 is a diagram showing a first movement path according to the first embodiment; FIG. 11 is a diagram showing a second movement path according to the first embodiment; FIG. 12 is a block diagram illustrating a robot control device according to the first embodiment; FIG. 13 is a flowchart illustrating a work procedure using a working robot; (a) is a diagram showing a first movement path and a second movement path according to a comparative example set by a control program; (b) is a diagram showing actual device movement along the first movement path and the second movement path according to the comparative example; (c) is a diagram showing erroneous correction along the first movement path and the second movement path according to the comparative example; and (d) is a diagram showing examples of first and second teaching points after correction along a second movement path having a pre-teaching-point path that is tangent to the first movement path. A flowchart illustrating the procedure for creating a second movement path using a robot control device; (b) is a diagram illustrating four second teaching points set along the first movement path according to the first embodiment; (c) is a diagram illustrating the procedure for creating a pre-teaching-point path and a post-teaching-point path for the second teaching point of FIG. 8; and (d) is a diagram illustrating the procedure for creating two paired candidate circles arranged on either side of the pre-teaching-point path and the post-teaching-point path of FIG. 14A and 14B are diagrams illustrating a procedure for selecting, as a selected arc path, an arc path that satisfies the first and second conditions from the candidate circles of FIG. 10 .

[0033] FIGS. 14A and 14B are diagrams illustrating a method for calculating a selected arc path, in which (a) is an explanatory diagram of arc paths for two paired candidate circles, (b) is an explanatory diagram of a first combined arc path, (c) is an explanatory diagram of a second combined arc path, (d) is an explanatory diagram of a third combined arc path, and (e) is an explanatory diagram of a fourth combined arc path.

[0034] FIGS. 14B and 14C are diagrams illustrating a second movement path of a second embodiment.

[0035] FIGS. 14C and 14D are diagrams illustrating a procedure for creating a pre-teaching point path and a post-teaching point path for the second teaching point of FIG. 14.

[0036] FIGS. 14D and 14E are diagrams illustrating a procedure for creating two paired candidate circles that are arranged so as to sandwich the pre-teaching point path and the post-teaching point path of FIG. 15.

[0037] FIGS. 14D and 14E are diagrams illustrating a procedure for selecting, as a selected arc path, an arc path that satisfies the first and second conditions from the candidate circles of FIG. 16 .

[0038] FIGS. 14D and 14E are diagrams illustrating a first movement path and a second movement path of a third embodiment. 10 is a perspective view showing a working robot according to a modified example; and FIG. 11 is a diagram illustrating a second movement path according to a modified example in which there is a no-entry zone.1A is a combination of arc paths that satisfy the first and second conditions, and FIG. 1B is a combination of arc paths that satisfy the fourth condition. (a) is a diagram illustrating a first motion path that connects first teaching points D for point application that are set on each of multiple workpieces arranged on the same plane, and (b) is a diagram illustrating a first motion path that connects first teaching points L for line application that are set on each of multiple workpieces arranged on the same plane. (b) is a diagram illustrating a second motion path that measures second teaching points set on each of multiple workpieces on a work-by-work basis. (c) is a diagram illustrating a second motion path that measures second teaching points set on each of multiple workpieces by traversing each workpiece. (a) is a diagram illustrating a circle made up of a first composite arc, and (b) is a diagram illustrating a circle made up of a second composite arc that can be applied to the candidate circle of the present invention.

[0013] An example of an embodiment of the present invention will be described with reference to the drawings. Hereinafter, an example will be described in which the working device mounted on the relative drive device is a discharge device (dispenser) and the position information measuring device is a laser measurement device, but the working device and position information measuring device are not limited to the illustrated devices. For example, the working device can be a coating device other than a dispenser, a processing tool, a stacking head, an irradiation device, or a picking device, and for example, the position information measuring device can be a length measuring device, a contact displacement sensor, or an imaging device.

[0014] First Embodiment (Configuration of Working Robot) As shown in FIG. 1 , the working robot 1 of the first embodiment is a tabletop device equipped with a base 2, a working head 3, relative drive devices (11, 12, 13), a discharge device 20, a position information measuring device 30, and a robot control device 60 (not shown in FIG. 1 ; see FIG. 4 ). The relative drive devices (11, 12, 13) include a first direction drive device 11 that enables relative movement in the X direction, a second direction drive device 12 that enables relative movement in the Y direction, and a third direction drive device 13 that enables relative movement in the Z direction, and are capable of moving the mounting member 14 and the workpiece substrate 4 relative to each other in the X, Y, and Z directions. The first to third direction drive devices 11 to 13 can be configured using, for example, a combination of an electric motor (such as a servo motor or a stepping motor) and a ball screw, or a linear motor. The relative drive device is not limited to the illustrated configuration, and may be configured to move the discharge device 20 and the position information measuring device 30 in the X, Y, and Z directions while the work substrate 4 is fixed, or may be configured to move the discharge device 20 and the position information measuring device 30 in the Z direction and move the work substrate 4 in the X and Y directions. Also, the relative drive device may be configured to combine any of the first to third direction drive devices with a rotation device that rotates the work substrate 4.

[0015] The discharge device 20 and the position information measuring device 30 are detachably attached to the side of the mounting member 14. The mounting member 14 is provided on the side of the work head 3 via a third direction driving device 13. The third direction driving device 13 can move the mounting member 14, to which the discharge device 20 and the position information measuring device 30 are attached, back and forth in the Z direction (vertical direction). The work head 3 can move back and forth in the X direction by a first direction driving device 11 having a beam member supported by two columns.

[0016] A work substrate 4 is provided on the table of the second direction drive device 12 on the platform 2. The work substrate 4 in this embodiment is a substrate on which multiple target workpieces W of the same shape are arranged or formed. In the example of FIG. 1, six target workpieces W are arranged in a 2-row x 3-column array on the work substrate 4. The second direction drive device 12 can move the work substrate 4 forward and backward in the Y direction perpendicular to the X direction. Note that while FIG. 1 illustrates an example in which the work substrate 4 on which multiple target workpieces W are arranged or formed on the same plane is used as the work target, the present invention is also applicable to a production process in which a single target workpiece W is repeatedly loaded onto a table.

[0017] The discharge device 20 has a discharge port 21 at its lower end and is a discharge device that uses a discharge method in which the liquid material contacts the workpiece after leaving the discharge port. Examples of such discharge methods include a jet type, a continuous jet type, or a demand type inkjet type in which a plunger (valve body) is advanced and then suddenly stopped, and inertial force is applied to the liquid material to cause it to fly and be discharged from the tip of the nozzle. Note that the present invention is also applicable to a discharge device that uses a discharge method in which the liquid material flowing out of the discharge port contacts the workpiece before breaking, and is moved at a constant speed while maintaining a constant clearance between the workpiece and the nozzle, for line coating or spot coating at each first teaching point. For example, the present invention can be applied to discharge devices such as an air type that supplies compressed gas to a container in which the liquid material is stored to discharge the liquid material from a discharge port, a screw type that transports the liquid material by rotating a screw with a spiral flange formed in the axial direction of the surface of a rod-shaped body and discharges it from a discharge port, and a plunger type that fills the liquid material into the metering hole by retracting a plunger that slides against the inner wall of the metering hole and then discharges the liquid material from a discharge port by advancing the plunger.

[0018] The position information measuring device 30 is a non-contact measuring device such as a laser displacement meter that irradiates a measurement target such as a workpiece with a laser beam to measure the distance to the surface of the measurement target. The underside of the position information measuring device 30 has a laser emitting surface (not shown) and a laser receiving surface (not shown), and measures the relative distance between the position information measuring device 30 and the measurement target near a focal position 31. Because both the discharge device 20 and the position information measuring device 30 are fixed to the mounting member 14, the above-mentioned relative distance obtained by the position information measuring device 30 can be converted into the relative distance between the discharge port 21 and the target workpiece W by applying a specific conversion value.

[0019] (First movement path 40) The first movement path 40 is a path taken by the discharge device 20, which is a working device, when performing work, and the discharge device 20 performs flying discharge at each first teaching point. FIG. 2 shows the first movement path 40 of this embodiment, in which p1 to p7 set on the target workpiece W are used as first teaching points. As shown in FIG. 2, the first movement path 40 of this embodiment is a unicursal path made up of first teaching points p1 to p7 indicated by open circles, first connecting paths 411 to 416, and bending points 421 to 424. Any two adjacent first teaching points p are connected by a straight line path that is the shortest distance.

[0020] The first connection paths 411-416 are straight paths connecting the first teaching points over the shortest distance. While the first connection paths may be curved, they are preferably straight paths that provide the shortest distance. The four bending points 421-424 are first teaching points where the first connection paths, which are straight paths, intersect at angles. In this specification, a bending point on the first movement path and a path including paths before and after the bending point may be referred to as a direction change section. The present invention is suitable for a first movement path having multiple direction change sections. The control program 63 of this embodiment is programmed to move the discharge device 20 nonstop along the first movement path 40 while maintaining the same height. In a preferred embodiment of the control program 63, the discharge device 20 is programmed to move at a constant speed from the start point to the end point of the first movement path (however, the speed is not constant near the start point due to acceleration, and is not constant near the end point due to deceleration). The first teaching point p of the first movement path 40 is not limited to the first teaching point at the illustrated position, and the first teaching point can be set at any position. When the position information measuring device 30 is moved along the first movement path 40, vibrations that affect measurement occur at the bending points 421 to 424, which are direction change sections. In order to shorten the time required for position information measurement, it is necessary to move the position information measuring device 30 at a speed several times faster than the working device. However, simply making the bending points 421 to 424 a curved or arcuate path does not solve the vibration problem, and it is necessary to create a direction change section that changes direction along a gentler path.

[0021] Furthermore, at the four bending points 421 to 424 of the first movement path 40, the first direction drive device 11 and the second direction drive device 12 undergo deceleration and acceleration, but accurate measurement by the position information measuring device 30 cannot be performed at or near the bending points 421 to 424. In order to accurately perform measurement by the position information measuring device 30, it is important that a straight path where no deceleration or acceleration occurs is provided before and after the second teaching point.

[0022] (Second movement path 50) The second movement path 50 is a single-stroke path that the position information measuring device 30 follows when making measurements, and the position information measuring device 30 makes measurements at or near each second teaching point P. The coordinates of the second teaching point P on the second movement path 50 according to the first embodiment are the same as the coordinates of the first teaching point selected from the first teaching points p on the first movement path 40. The reason why some first teaching points on the first movement path 40 are selected as second teaching points on the second movement path 50 is to shorten the time required for measurement. The position information of first teaching points that are not selected can be calculated based on the position information of second teaching points located before and after them or their neighboring points. The second teaching points P of the second movement path 50 may be, for example, selected every other first teaching point or every two first teaching points of the first movement path, or one to three second teaching points P may be set per target workpiece W, or a total of three or more second teaching points P may be set for six workpieces W on the workpiece board 4. Note that, as in a second embodiment described later, there are also cases where the second teaching points are set at positions different from the first teaching points.

[0023] In this embodiment, as shown by the black circles in FIG. 3 , P1 (p1 in FIG. 2 ), P2 (p3 in FIG. 2 ), P3 (p5 in FIG. 2 ), and P4 (p7 in FIG. 2 ) are set as second teaching points on the second movement path 50. The control program 63 of this embodiment is programmed so that the position information measuring device 30 moves nonstop along the second movement path 50 while maintaining the same height. Alternatively, the position information measuring device 30 may move along the second movement path 50 while changing its height. In the example of FIG. 3 , the second teaching points P1 to P4 are set corresponding to the numbering method of the first teaching points p1 to p7, but the order in which the second teaching points are passed may be reversed. For example, if the distance between the second teaching points is narrow and the movement path automatically generated by the second movement path has an unintended large detour, it is preferable to rearrange the order of the second teaching points to obtain a shorter movement path.

[0024] As shown in FIG. 3 , the second movement path 50 according to the first embodiment is composed of second teaching points P1 to P4, second connecting paths 511 to 513, arc paths 521 to 524, pre-teaching-point paths 531 to 533, and post-teaching-point paths 541 to 543. For ease of explanation, the workpiece W is omitted from FIG. 3 (the workpiece W is also omitted from FIG. 8 and subsequent figures). In this specification, a path that interpolates two second teaching points may be referred to as an interpolation path. For example, the interpolation path between the second teaching points P2 and P3 is composed of the post-teaching-point path 541, the arc path 522, the second connecting path 512, the arc path 523, and the pre-teaching-point path 532.

[0025] The second movement path 50 is a path for moving the position information measuring device 30, which would cause measurement errors if vibrations were present. Therefore, unlike the first movement path, it is not possible to change direction at sharp bends, and instead requires a curved path for direction changes. The position information measuring device 30 may move at a speed of five or more times, or even 10 to 30 times, the average movement speed of the working device moving along the first movement path. In this case, problems with vibration and inertial forces become significant. For example, when applying a high-viscosity liquid material in a line, the speed of the dispensing device is 5 mm / s, while the movement speed of the position information measuring device 30 is 100 mm / s. The position information measuring device 30 may also move at a slower speed than the working device moving along the first movement path. Furthermore, if the second teaching point is set on or near a curved path, measurement errors may occur due to inertial forces generated when the position information measuring device 30 accelerates or decelerates. In this embodiment, the problems of vibration and centrifugal force that occur when the position information measuring device 30 is moved at high speed are solved by providing an arcuate path for changing direction and straight paths before and after the arcuate path.

[0026] In this embodiment, the second connection paths 511-513 are straight paths, so even if the position information measuring device 30 is moved at high speed along them, problems such as vibrations that affect position measurement or inertial forces due to acceleration and deceleration do not occur. Furthermore, although the position information measuring device 30 changes direction along the arc paths 521-524, the vibrations that result are slight, and the vibrations and inertial forces are calmed when passing through the straight-line paths before the teaching point 531-533 and the second connection paths 512, 513, so measurement is not affected. In this embodiment, the pre-teaching point paths 531-533 and the second connection paths 512, 513 function as straight-line paths after the arc that calm the vibrations and inertial forces that occur when passing through the arc paths.

[0027] The pre-taught-point paths 531-533 are straight paths for approaching the second taught points P2-P4. From another perspective, the second taught points P2-P4, which are passing points, are set between the pre-taught-point paths 531-533 and the post-taught-point paths 541-543, which are located on the same straight line. Because the pre-taught-point paths 531-533, the second taught points P2-P4, and the post-taught-point paths 541-543 are set on the same straight line, the position information measuring device 30 can perform measurements at the second taught points P2-P4 while moving at a constant speed (i.e., without vibrations or inertial forces due to acceleration / deceleration). When the pre-taught-point paths 531-533 also function as post-arc straight-line paths, as in this embodiment, it is preferable that the lengths of the paths be such that the vibrations and inertial forces generated when passing through the arc paths 521-524 can be calmed down. Furthermore, since the pre-taught point paths 531 to 533 overlap with the first movement path 40 and have the same approach direction, even if a deviation occurs between the set coordinates and the actual coordinates, this deviation is substantially equal to the deviation between the set coordinates and the actual coordinates on the first movement path 40, and therefore does not pose a problem. Details will be described later with reference to FIG. 5.

[0028] The post-taught-point paths 541-543 are paths provided immediately after the second taught points P2-P4, which are pass points, to enable the position information measuring device 30 to measure the second taught points P2-P4 without being affected by acceleration or deceleration. In this embodiment, as shown in FIG. 3 , the post-taught-point paths 541-543 do not overlap with the first movement path 40. However, in a different second movement path, the post-taught-point paths may overlap with the first movement path (e.g., post-taught-point path 742 in FIG. 13 ). The lengths of the pre-taught-point paths 531-533 and the post-taught-point paths 541-543 may be the same or different. The lengths of the post-taught-point paths 541-543 are preferably set to a length that allows for a time lag between the timing of sending a measurement command from the robot control device 60 to the position information measuring device 30 and the timing of its execution, as well as the time required for the position information measuring device 30 to complete measurement. Instead of absorbing time lags, etc. using post-taught point paths 541 to 543, a measurement command to acquire position information at a position offset before the second taught point P may be sent from the robot control device 60 to the position information measuring device 30.

[0029] In this embodiment, the second movement path 50 also has straight paths before and after the arc path. That is, the second movement path 50 has a direction change section consisting of a pre-arc straight path, an arc path, and a post-arc straight path. The pre-arc straight path and the post-arc straight path may also serve as other straight paths. For example, the direction change section provided after the second teaching point P2 is configured with a post-teaching point path 541 that functions as the pre-arc straight path, an arc path 522, and a start point portion 512a of the second connecting path that functions as the post-arc straight path. The direction change section provided before the second teaching point P3 is configured with an end point portion 512b of the second connecting path that functions as the pre-arc straight path, an arc path 523, and a pre-teaching point path 532 that functions as the post-arc straight path. By providing a straight path before the arc, the position information measuring device 30 can enter each arc path without generating vibrations, and even if vibrations and inertial forces occur when passing through each arc path, they are calmed down on the straight path after the arc.

[0030] The robot control device 60 (not shown in FIG. 1 ) is disposed inside or outside the pedestal 2. As shown in FIG. 4 , the robot control device 60 includes a processing device 61 and a storage device 62 that stores a control program 63. The control program 63, indicated by the dotted line in FIG. 4 , includes a drive control unit 631 that controls the operation of the relative drive devices (11, 12, 13), a discharge control unit (dispense controller) 632 that controls the discharge operation of the discharge device 20, and a path control unit 633 that manages the first movement path 40 and the second movement path 50. The path control unit 633 has a function of automatically generating the first movement path 40 based on a first teaching point p taught by an administrator, a function of automatically generating the second movement path 50 based on the first movement path 40, and a function of automatically correcting the first movement path 40 based on the measurement results of the position information measuring device 30. In addition, a preferred embodiment of the robot control device 60 is equipped with a first measurement command function that causes the position information measuring device 30 to acquire position information at the second teaching point P, and a second measurement command function that causes the position information measuring device 30 to acquire position information on the path before the teaching point.

[0031] 4 illustrates the robot control device 60 configured as one physical device, but the drive control unit 631, the discharge control unit 632, and the path control unit 633 may each be configured as three physically different control devices. In this case, any or all of the three control devices can be located inside or outside the pedestal 2.

[0032] (Working Procedures by Working Robot) The working procedures by the working robot 1 will be explained with reference to Figure 5. (STEP 101) A first teaching point p is set as the working position of the target workpiece W, and a first movement path 40 is created by connecting the set first teaching points. When moving between two adjacent first teaching points p without performing work, it is preferable to connect the two adjacent first teaching points p with a straight path that is the shortest distance. After the first teaching points p are set, the first movement path 40 is automatically generated by the robot control device 60. In the example of Figure 2, the first movement path 40 is created by setting first teaching points p1 to p7 and connecting the first teaching points p1 to p7 with first connecting paths 411 to 416, which are straight paths.

[0033] (STEP 102) A part of the first teaching point p on the first movement path 40 is selected to set the second teaching point P. After the second teaching point P is set, the robot control device 60 automatically generates the second movement path 50 (see FIG. 7 described later). Note that a configuration may be adopted in which the task of selecting the second teaching point P from the first teaching point p is performed automatically, and the second teaching point P is modified by the user as necessary.

[0034] (STEP 103) The robot control device 60 moves the position information measuring device 30 along the created second movement path 50, causing the position information measuring device 30 to acquire position information at or near each second taught point P. The movement speed of the position information measuring device 30 is faster than the average movement speed so as to shorten the time required for measuring position information, and is set to, for example, at least three times (preferably at least five times, and more preferably at least ten times) the average movement speed of the working device 20. It is desirable for the position information measuring device 30 to measure the position information at the second taught point P, but in practice, position information may be measured on the path before the taught point or the path after the taught point. In this specification, the ranges of the path before the taught point and the path after the taught point may be referred to as the vicinity of the second taught point.

[0035] 3, when the first movement path 40 and the movement path after the teaching point do not overlap, it is preferable to transmit a measurement command to the position information measuring device 30 to acquire position information at a position before the second teaching point P (i.e., on the movement path before the teaching point). By issuing a measurement command to acquire position information at a position offset before the second teaching point P, it is possible to complete measurement of position information by the position information measuring device 30 on the first movement path 40 even in cases where a time lag occurs between the timing of transmission of the measurement command from the control device to the position information measuring device 30 and the timing of its execution, when it takes time for the position information measuring device 30 to measure, or when there is a discrepancy between the set coordinates in the control program 63 and the actual coordinates of the position information measuring device 30. Furthermore, when the setting is made to acquire position information at a position offset closer to the second teaching point P, the robot control device 60 may be configured to have the function of offsetting the start point of the path before the teaching point closer to the user by the same distance as the offset (i.e., extending the path before the teaching point closer to the user by the offset distance), and offsetting the end point of the path after the teaching point closer to the user by the same distance as the offset (i.e., shortening the path before the teaching point closer to the user by the offset distance).

[0036] (STEP 104) The coordinates of the first teaching point p on the first movement path 40 are corrected based on the position information acquired in STEP 103, and the corrected first movement path 40 is stored in the storage device 62. The correction of the first movement path 40 includes not only the horizontal position coordinates but also the vertical position coordinates. Here, depending on the type of work tool used, the correction of the vertical position coordinates may include a correction to maintain a constant clearance of the work tool with respect to an inclined workpiece. (STEP 105) Work is performed at each first teaching point p while moving the discharge device 20 along the corrected first movement path 40. Since the deviation in work position has been corrected in the corrected first movement path 40, it is possible to eliminate the problem of poor work quality due to position deviation.

[0037] (Problem of Incorrect Correction of First Movement Path) Figure 6(a) shows a first movement path 140 and a second movement path 150 of a comparative example set by a control program, in which a first teaching point p where the discharge device 20 works and a second teaching point P where the position information measuring device 30 measures are set at coordinates where the X axis and the Y axis intersect. However, even if the coordinates of the first teaching point p and the second teaching point P instructed by the control program match, as shown in Figure 6(b), there may be a deviation between the coordinates of the point p' where the discharge device 20 actually works and the point P' where the position information measuring device 30 actually measures. Although this deviation is small, for example, less than 1 mm, it can affect quality in today's world where electronic components are becoming increasingly miniaturized. Furthermore, when the coordinates of the first teaching point p where the discharge device 20 works are corrected based on the position information acquired by the position information measuring device 30 at point P' where a coordinate shift has occurred as shown in Figure 6(b), there is a problem of erroneous correction in that the coordinates of the location where the discharge device 20 works are erroneously corrected to point p'', as shown in Figure 6(c).

[0038] In this regard, according to the second movement path 50 of the first embodiment, the pre-taught-point path is a straight-line path that overlaps with the first movement path 40 and approaches the second taught point from the same approach direction (see FIG. 3 ). This eliminates the problem of erroneous correction that occurs when the coordinates of the first taught point p at which the discharge device 20 works are corrected based on the position information acquired by the position information measuring device 30. Here, the pre-taught-point path that is a straight-line path can overlap when the first movement path 40 approaching the first taught point p is a straight-line path, but cannot overlap when the first movement path 40 approaching the first taught point p is a curved path. In this case, the pre-taught-point path is configured as a straight-line path (a tangent path) that has the same approach direction to the second taught point P as the first movement path 40 and is tangent to the first movement path 40 at the second taught point P. 6(d) is a diagram showing an example of the first taught point p and the second taught point P after correction based on position information acquired by the position information measuring device on the second movement path 50a having a pre-taught-point path that is tangent to the first movement path 40a. In this way, the approach direction to the second taught point P is the same as that of the first movement path 40a, and by setting the pre-taught-point path 53 consisting of a straight path that is tangent to the first movement path 40a at the second taught point P, the problem of deviation in the coordinates of the second taught point P measured by the position information measuring device 30 can also be solved. Note that it is naturally assumed that the coordinates of the first taught point p on the first movement path 40 after correction based on the measured position information of the present invention and the coordinates of the second taught point P on the second movement path 50 may be different coordinates in the control program 63.

[0039] (Creating Second Movement Path 50) The procedure for creating the second movement path 50 by the robot control device 60 (STEP 102 described above) will be described with reference to FIG. 7 . (STEP 201) First, a plurality of second teaching points P are set on the first movement path 40. In the first embodiment, a plurality of first teaching points p are selected and set as the second teaching points P from among the plurality of first teaching points p on the first movement path 40. This setting operation may be performed manually by an administrator, or may be automatically set by the control device based on a selected rule, such as skipping every other first teaching point p or every two first teaching points p. FIG. 8 is a diagram illustrating the procedure for selecting and setting four second teaching points P1 to P4 corresponding to the first teaching points p1, p3, p5, and p7 from among the seven first teaching points on the first movement path 40.

[0040] (STEP 202) A teaching point forward / backward path consisting of a straight line is created for the second teaching point P excluding the path start point of the second movement path 50. In the first embodiment, the teaching point forward / backward path is a straight line that overlaps with the first movement path 40 and approaches the second teaching point P from the same direction, but as in a third embodiment described below, it may be a straight line that is tangent to the first movement path 40. In the example of Fig. 9, a teaching point forward / backward path 531 and a teaching point backward path 541 that extend on the same line, a teaching point forward path 532 and a teaching point backward path 542 that extend on the same line, and a teaching point forward path 533 and a teaching point backward path 543 that extend on the same line are created for the second teaching points P2 to P4 excluding the path start point. Here, when measurement at the second teaching point P4, which is the route end point, is performed after stopping the movement of the position information measuring device 30, it is not necessary to create a route before and after the second teaching point P4. Note that, unlike this embodiment, a route before and after the second teaching point P1, which is the route start point, may also be created.

[0041] The lengths of the pre-taught point paths 531 to 533 and the post-taught point paths 541 to 543 are preferably set in advance in the control program 63. After the pre-taught point paths are created, a setting may be made to issue a measurement command to acquire position information at a position offset before the above-mentioned second taught point P. In this case, a function may be executed to extend the pre-taught point path by the offset distance and to shorten the post-taught point path by the offset distance.

[0042] (STEP 203) For each of the pre-taught-point path and the post-taught-point path created in STEP 202, two pairs of candidate circles are created, positioned on either side of the pre-taught-point path and the post-taught-point path. The candidate circles are created with a radius set according to the movement speed of the second movement path 50 or a radius automatically calculated according to the movement speed. In this embodiment, six candidate circles that touch the pre-taught-point paths 531 to 533 at or near the start points, and four candidate circles that touch the post-taught-point paths 541 to 542 at or near the end points, are created. Here, no candidate circle is created for the post-taught-point path 543, as it is the end point of the second movement path 50. Furthermore, if the pre-taught-point paths and post-taught-point paths of two adjacent second movement points are on the same straight line, no candidate circle is created (for example, second movement points P12 and P13 in FIG. 13 ). By executing STEP 203, ten candidate circles C1 to C10 are created as shown in FIG.

[0043] (STEP 204) A selected arc path is calculated that passes through a candidate circle created to surround the second teaching point P, which is the passing point. Two arc paths can be assumed for one candidate circle, but given the need to minimize vibrations and inertial forces that occur during direction changes, there is no choice for an arc path that changes direction in the opposite direction to the path before the teaching point (prerequisite). The control program 63 selects one selectable arc path for each candidate circle. Note that the candidate circle is not limited to a perfect circle, but may be an ellipse or a circle made up of compound arcs, as described below.

[0044] (STEP 205) The control program 63 extracts, from among the combinations of selectable arc paths, the path with the smallest sum of the central angles of the two arcs (first condition). If multiple candidates satisfying the first condition remain, the control program 63 extracts the path with the shortest travel distance (second condition). If multiple candidates satisfying both the first and second conditions remain, any candidate selected will be the optimal arc path. In this embodiment, the path calculated first after extraction based on the first and second conditions is selected, but the path calculated last may also be selected. Alternatively, extraction based on the second condition may be performed first, followed by extraction based on the first condition. In this embodiment, arc paths 521 to 525, which are the arcs of candidate circles C2, C4, C5, C7, and C9 shown in FIG. 11, are selected as selected arc paths that satisfy the first and second conditions.

[0045] A method for calculating a selected arc path will be described with reference to Figure 12. In Figures 12(a) to (e), two candidate circles C101 to C102 tangent to the end point E1 of the post-taught-point path that is continuous with the second taught point P1, and two candidate circles C201 to C202 tangent to the start point S1 of the pre-taught-point path that is continuous with the second taught point P2 are drawn. As shown in Figure 12(a), the arc path that passes through the two candidate circles C101 to C102 adjacent to the second taught point P1 is L １１ , L １２ , R １１ , R １２ The arc path passing through the two candidate circles C201 and C202 adjacent to the second teaching point P2 is L ２１ , L ２２ , R ２１ , R ２２ Here, when considering the approach direction to the second teaching point P1, the circular arc path L １２ , R １２ is a circular arc path L after changing direction from the approach direction to the reverse direction. １２ , R １２ Therefore, it is excluded as being unusable (prerequisites mentioned above). In addition, when the direction of advance from the second teaching point P2 is taken into consideration, the circular arc path L ２２ , R ２２ is the arc path L ２２ , R ２２Since it is necessary to change direction from P1 to the opposite direction before reaching the exit direction, it is excluded as an inapplicable combination (prerequisite mentioned above). １１ , R １１ For P2, L ２１ , R ２１ The combination of selectable arc paths is the arc path L １１ , R １１ and the arc path L ２１ , R ２１ There are four possible combinations.

[0046] FIG. 12(b) shows the first combination that can be selected, which is the circular arc path R １１ , L ２１ 12(c) shows a second combination of the arcuate path R １１ , R ２１ FIG. 12(d) shows a third combination of the arcuate path L １１ , L ２１ FIG. 12(e) shows a fourth selectable combined circular arc path, L １１ , R ２１ 12 , the combined arc path (b) that satisfies the first condition of STEP 205 is selected as the selected arc path. In the example of FIG. 12 , since the Y coordinates of the second teaching point P1 and the second teaching point P2 are the same, it is possible to change direction using one large arc path connecting the end point E1 and the start point S1, but this is an exceptional case (note that combining two arc paths as in FIG. 12 shortens the path length of the direction change section). The present invention typically assumes a case in which both the X coordinate and the Y coordinate of the second teaching point P1 and the second teaching point P2 are different, in which case it is necessary to change direction by combining two arc paths.

[0047] (STEP 206) The control program 63 creates a connecting path connecting the two arc paths selected in STEP 205. As a result, as shown in FIG. 3 , the second movement path 50 is completed, which is composed of second connecting paths 511-513, arc paths 521-524, pre-taught-point paths 531-533, and post-taught-point paths 541-543. Note that STEPs 202-205 do not necessarily have to be performed for all second taught points, but may instead determine interpolation paths for two adjacent second taught points sequentially starting from the starting point. That is, STEPs 202-205 may be executed to determine the interpolation path for the second taught points P1-P2, then STEPs 202-205 to determine the interpolation path for the second taught points P2-P3, and then STEPs 202-205 to determine the interpolation path for the second taught points P3-P4.

[0048] The second motion path 50 created through the above steps involves all direction changes through a combination of a pre-arc straight-line path, a circular arc path, and a post-arc straight-line path. This eliminates the problem of erroneous measurements due to vibration and inertia forces that occur when the position information measuring device 30, which moves at a higher speed than the discharge device 20, changes direction. Furthermore, by providing a teaching point pre- and post-path consisting of straight-line paths before and after the second teaching point, it is possible to measure the position information at the second teaching point while moving at a constant speed, thereby resolving the problem of erroneous measurements due to vibration and inertia forces. Furthermore, since the second teaching points P2-P4 are approached via pre-teaching point paths 531-533 that overlap with the first motion path 40 and approach from the same direction, it is possible to eliminate the problem of coordinate deviation that occurs when feedback correction is performed using the position information acquired by the position information measuring device 30. The second motion path 50 of this embodiment is particularly suitable for applications such as coating narrow surfaces and coating convex or concave portions that require pinpoint coating.

[0049] Second Embodiment The work robot 1 of the second embodiment is the same as that of the first embodiment, and includes a base 2, a work head 3, relative drive devices (11, 12, 13), a discharge device 20, a position information measuring device 30, and a robot control device 60. The second movement path 70 of the second embodiment differs from the second movement path 50 of the first embodiment in that the second teaching points P11 to P14 do not overlap with the first teaching points p1 to p7. The following description will focus on the differences from the first embodiment, and a description of the commonalities will be omitted.

[0050] The first movement path 40 is the same as that of the first embodiment, and includes bending points (in FIG. 13, first teaching points p2 to p6) that connect the first teaching points with a straight line. As shown in FIG. 13, the second movement path 70 of the second embodiment is a single-stroke path connecting the second teaching points P11 to P14, and the position information measuring device 30 performs measurements at each second teaching point P. As shown in FIG. 14, the second teaching points P11 to P14 of the second embodiment are set at positions on the first movement path 40 shown by the dotted line that do not overlap with the first teaching points p1 to p7. The second teaching point P is determined based on factors such as the unevenness of the workpiece surface, the shape of the first movement path, objects located around the first movement path, the required measurement accuracy, and the measurement time.

[0051] Similar to the first embodiment, the second movement path 70 according to the second embodiment includes a teaching point front-to-back path consisting of a straight line for each second teaching point. That is, the second movement path 70 includes teaching point front-to-back paths 731-733 and teaching point back-to-back paths 741-743. By providing teaching point front-to-back paths (731-733, 741-743) consisting of straight lines before and after each second teaching point, which serves as a passing point, it becomes possible to measure position information at the second teaching point while moving at a constant speed, thereby solving the problem of erroneous measurement due to vibration and inertial force.

[0052] The second movement path 70 according to the second embodiment includes arc paths 721-723 for changing direction. Linear paths (711, 742, 713) functioning as pre-arc linear paths are provided before the arc paths 721-723, allowing the position information measuring device 30 to enter each arc path without vibration. Linear paths (731, 713, 733) functioning as post-arc linear paths are provided after the arc paths 721-723, so that even if vibration occurs when passing through each arc path, it is calmed down and does not affect measurement. In other words, the position information measuring device 30 traveling along the second movement path 70 changes direction at the direction change sections including the arc paths 721-723 and the pre-arc linear paths, preventing erroneous measurements due to vibrations and inertial forces that affect measurement.

[0053] Furthermore, since the paths before the teaching point 731 to 733 overlap with the first movement path 40 and are paths that approach the second teaching point P from the same direction, even if a deviation occurs between the set coordinates and the actual coordinates, the deviation is substantially equal to the deviation between the set coordinates and the actual coordinates on the first movement path 40, so this does not pose a problem, as in the first embodiment example.

[0054] The procedure for creating the second movement path 70 is similar to the procedure for creating the second movement path 50, and is performed according to the procedure shown in Fig. 7. In STEP 201, second teaching points P11 to P14 shown in Fig. 14 are set. In STEP 202, as shown in Fig. 15, pre-teaching point paths 731 to 733 and post-teaching point paths 741 to 743 are created for the second teaching points P12 to P14 excluding the path start point.

[0055] In STEP 203, for each of the pre-taught-point path and post-taught-point path created in STEP 202, two pairs of candidate circles C11 to C16 are created, arranged on either side of the pre-taught-point path and post-taught-point path (see FIG. 16). Here, when the pre-taught-point path and post-taught-point path paths of two adjacent second taught points are collinear, as in the case of second taught points P12 and P13, candidate circles do not need to be created. In STEP 204, selected arc paths passing through each candidate circle created upstream or downstream of second taught point P, which is a passing point, are calculated, and one arc path is selected for each pair of candidate circles. The selection procedure is the same as in the first embodiment.

[0056] In STEP 205, a path with the smallest sum of the central angles of the two arcs (first condition) and a path with the shortest travel distance (second condition) are extracted from the combinations of selectable arc paths using the same procedure as in the first embodiment. In this embodiment, arc paths 721 to 723, which are the arcs of candidate circles C12, C14, and C15 shown in FIG. 17, are selected as selected arc paths that satisfy the first and second conditions. By performing the procedures in STEPs 201 to 205, the second movement path 70 shown in FIG. 13 is created. Note that, like the first embodiment, instead of performing STEPs 202 to 205 for all second teaching points, it is also possible to determine the interpolation paths of two adjacent second teaching points sequentially from the starting point.

[0057] In the second operating path 70 of the second embodiment described above, all direction changes are made using a combination of a pre-arc straight-line path, arc paths 721-723, and a post-arc straight-line path. This eliminates the problem of erroneous measurements due to vibrations and inertial forces that occur when the position information measuring device 30, which moves at a higher speed than the discharge device 20, changes direction. Furthermore, by providing teaching point pre- and post-paths consisting of straight-line paths before and after the second teaching point, it is possible to measure the position information at the second teaching point while moving at a constant speed, thereby eliminating the problem of erroneous measurements due to vibrations and inertial forces. Furthermore, because the second teaching points P12-P14 are reached via teaching point pre-paths 731-733 that overlap with the first operating path 40 and approach from the same direction, it is possible to eliminate the problem of coordinate misalignment that occurs when feedback correction is performed using the position information acquired by the position information measuring device 30. In addition, since the second operation path 70 of this embodiment sets a second teaching point P between two adjacent first teaching points p, it is possible to accurately calculate the position information of the two first teaching points p that sandwich the second teaching point P using a small number of second teaching points P.

[0058] Third Embodiment The working robot 1 of the third embodiment is the same as that of the first embodiment, and includes a base 2, a work head 3, relative drive devices (11, 12, 13), a discharge device 20, a position information measuring device 30, and a robot control device 60. The following description will focus on the differences from the first embodiment, and will omit a description of the commonalities.

[0059] As shown in FIG. 18 , the first movement path 80 in the third embodiment is a single-stroke path connecting the first teaching points p31 to p36. The discharge device 20, which is a working device, applies a single line starting from the first teaching point p31 and ending at the first teaching point p36, passing through the first teaching points p32 to p35. The first movement path 80 in this embodiment includes first connection paths 811 to 813, which are linear paths, and arc paths 821 and 822. The first movement path 80 has the first teaching points p32 to p35 located at the start or end points of the arc paths 821 and 822. The first direction drive device 11 and the second direction drive device 12 decelerate and accelerate along the arc paths 821 and 822, and the start and end points of the arc paths 821 and 822 are also affected by vibration and inertial forces. Therefore, if the first movement path 80 is adopted as the second movement path as it is, the position information measuring device 30 cannot accurately measure the second teaching point P32.

[0060] Furthermore, if the second teaching point is set on a circular arc path, the control command for measuring the position information must be generated in conjunction with the control command for moving along the circular arc path, which complicates signal processing. This causes the timing of the robot control device 60 acquiring the position information to be inconsistent, resulting in measurement errors. Thus, if the second teaching point is set on the circular arc path 821, including the start and end points of the arc, accurate measurement is not possible. Therefore, the first movement path 80 shown in FIG. 18 cannot be used as the second movement path as is. Therefore, the second movement path must be replaced with a movement path in which the second teaching point is not on the circular arc path (i.e., a linear movement path). Specifically, it is necessary to create a second movement path that has a direction change section different from the circular arc paths 821 and 822.

[0061] The second movement path 90 of the third embodiment is a unicursal path having second teaching points P31 to P34 set on the first movement path 80, and the position information measuring device 30 performs measurements at each second teaching point P. The second movement path 90 of the present embodiment includes second connecting paths 911 to 913, arc paths 921 to 926, pre-teaching point paths 931 to 933, and post-teaching point paths 941 to 943.

[0062] A post-taught-point path 941 consisting of a straight line is provided immediately after the second taught point P31, which serves as the path start point. The post-taught-point path 941 is provided immediately before the arc path 921 and functions as a pre-arc straight line path. A second connecting path 911 consisting of a straight line is provided immediately after the arc path 921. A starting point 911a of the second connecting path functions as a post-arc straight line path that calms vibrations and inertial forces that occur when passing through the arc path 921.

[0063] An arc path 922 is provided immediately after the second connection path 911. An end point portion 911b of the second connection path functions as a pre-arc straight path. A pre-taught point path 931 consisting of a straight path is provided immediately after the arc path 922. The pre-taught point path 931 functions as a post-arc straight path that calms vibrations and inertial forces that occur when passing through the arc path 922. A second taught point P32 and a post-taught point path 942 are set on the same straight line as the pre-taught point path 931. The pre-taught point path 931 and the post-taught point path 942 form a single straight path that is tangent to the first movement path 80 in the same approach direction. Since the path before the teaching point 931, the second teaching point P32, and the path after the teaching point 942 are set on the same straight line, the position information measuring device 30 can perform measurements at the second teaching point P32 while moving at a constant speed (i.e., without inertial forces due to acceleration or deceleration).

[0064] An arc path 923 is provided immediately after the post-taught point path 942. The post-taught point path 942 functions as a straight path before the arc. A second connecting path 912 consisting of a straight path is provided immediately after the arc path 923. An arc path 924 is provided immediately after the second connecting path 912. The starting point portion of the second connecting path 912 functions as a straight path after the arc, and the end point portion functions as a straight path before the arc. A pre-taught point path 932 consisting of a straight path is provided immediately after the arc path 924. The pre-taught point path 932 functions as a straight path after the arc that calms down vibrations and inertial forces that occur when passing through the arc path 924.

[0065] The second taught point P33 and the taught point post-path 943 are set on the same straight line as the taught point pre-path 932. Because the taught point pre-path 932, the second taught point P33, and the taught point post-path 943 are set on the same straight line, the position information measuring device 30 can perform measurement at the second taught point P33 while moving at a constant speed.

[0066] An arc path 925 is provided immediately after the post-taught point path 943. The post-taught point path 943 functions as a straight path before the arc. A second connecting path 913 consisting of a straight path is provided immediately after the arc path 925. An arc path 926 is provided immediately after the second connecting path 913. The starting point portion of the second connecting path 913 functions as a straight path after the arc, and the end point portion functions as a straight path before the arc. A pre-taught point path 933 consisting of a straight path is provided immediately after the arc path 926. The pre-taught point path 933 functions as a straight path after the arc that calms down vibrations and inertial forces that occur when passing through the arc path 926.

[0067] The second taught point P34 and the taught point post-path 944 are set on the same straight line as the taught point pre-path 933. Because the taught point pre-path 933, the second taught point P34, and the taught point post-path 944 are set on the same straight line, the position information measuring device 30 can perform measurement at the second taught point P34 while moving at a constant speed.

[0068] The second movement path 90 of the third embodiment described above can measure position information at the second taught point while moving at a constant speed, thereby solving the problem of erroneous measurements due to vibration and inertial forces. Furthermore, the second movement path 90 includes a pre-taught point path 931 that is tangent to the arc path 821 of the first movement path 80 and approaches the second taught point P32 from the same direction as the first movement path 80. This solves the problem of coordinate deviation that occurs when feedback correction is performed using position information acquired by the position information measuring device 30. Additionally, because the second movement path 90 of this embodiment measures position information while moving at a constant speed on a linear path, it is possible to reduce the computational load when generating control commands.

[0069] Below, a modified example of the first embodiment will be described. (Modified Example of Working Robot) Figure 19 is a perspective view of a modified working robot 101. As shown in Figure 19, the modified working robot 101 is a tabletop device equipped with a base 102, a working head 103, relative drive devices (111, 112, 113), a robot control device (not shown), a discharge device 120, and a position information measuring device 130. The hardware configuration of the working robot 101 differs from that of the working robot 1 of the first embodiment in that the discharge device 120 and the position information measuring device 130 are attached to a mounting member 114 so that the discharge direction and measurement direction intersect, but is otherwise the same.

[0070] In the work robot 101, the dispensing device 120 and the position information measuring device 130 are attached to the mounting member 114 so that the focal position 131 of the position information measuring device 130 is located on a vertical line passing through the center of the discharge port 121. Therefore, when the XY coordinates of the first taught point p to which the dispensing device 120 is instructed to discharge and the XY coordinates of the second taught point P to which the position information measuring device 130 is instructed to measure are the same, the XY coordinate position of the work head 103 will be the same or similar. In other words, the orientation of the work head 103 when the dispensing device 120 dispenses at the first taught point p (coordinates X1, Y1) can be made the same or similar to the orientation of the work head 103 when the position information measuring device 130 measures at the second taught point P (coordinates X1, Y1). Therefore, the work robot 101 according to this modified example can more accurately solve the problem of coordinate deviation that occurs when feedback correction is performed using position information acquired by the position information measuring device 130.

[0071] (Modification in Case of Presence of No-Entry Zone) Figure 20 shows a modification in case of a second movement path 50a in which a no-entry zone 15 exists at the creation position of the candidate circle. The second movement path 50a shown in Figure 20 has second teaching points P1 to P4 with the same coordinates as the second movement path 50 shown in Figure 3, but differs in that a no-entry zone 15 is set near the second teaching point P3. In the example shown in Figure 20, since the arc path 524 shown in Figure 3 cannot be set, it is necessary to set an arc path different from the arc path 524. In other words, before extracting an arc path that satisfies the above-mentioned first and second conditions, a process is required to extract a path that does not enter the no-entry zone 15 (third condition).

[0072] In this modification, candidate circle C7 shown in FIG. 10 is not selected because it does not satisfy the third condition, and candidate circle C8 is selected, and an arc path 526 is created. Based on this arc path 526, a second connecting path 514, an arc path 527, a path before the teaching point 534, and a path after the teaching point 545 are created. In this manner, a third condition that takes precedence over the first and second conditions may be added, and STEP 205 may be executed. Note that while FIG. 20 illustrates an example in which the path after the teaching point 544 created with the initial distance does not enter the no-entry zone 15, the distance of the path after the teaching point 544 may be automatically adjusted to be shorter so as not to enter the no-entry zone 15. As described above, the technical concept of the present invention can be applied even when a no-entry zone is set near the second teaching point.

[0073] (Variations of Arc Path Selection Conditions) The control program 63 can set a fourth condition, which extracts a path with the smallest central angle of an arc adjacent to a specific second teaching point, in preference to the first and second conditions. FIG. 21A shows a combination of arc paths that satisfy the first and second conditions, and FIG. 21B shows a combination of arc paths that satisfy the fourth condition. As shown in FIGS. 21A and 21B, two adjacent second teaching points P11 and P12 are set with pre-teaching-point paths that approach each second teaching point from the X direction. By executing STEP 203 described above, candidate circles C11 and C12 adjacent to the post-teaching-point path of the second teaching point P11 and candidate circles C13 and C14 adjacent to the pre- and post-teaching paths of the second teaching point P12 are created.

[0074] After execution of STEP 204, when the first and second conditions are applied in STEP 205, the second movement path shown in Fig. 21(a) is created. The second movement path in Fig. 21(b) is not selected because it does not satisfy the first condition for extracting a path with the smallest sum of the central angles of the two arcs. Furthermore, the second movement path in Fig. 21(b) is also not selected because it does not satisfy the second condition for extracting a path with a short movement distance.

[0075] On the other hand, if the requirement for vibration suppression at a specific second teaching point is particularly strong, it may be preferable to set a fourth condition, which extracts a path in which the central angle of the arc adjacent to the specific second teaching point is smallest, in preference to the first and second conditions. The second movement path shown in Figure 21(b) is a second movement path created when the fourth condition is set for the second teaching point P12. In the second movement path shown in Figure 21(b), the central angle of the arc of candidate circle C13 is 90 degrees, and this is the path in which the central angle of the arc adjacent to the second teaching point P12 is smallest among the combinations of candidate circles C11 to C14.

[0076] In this way, a fourth condition that takes precedence over the first and second conditions may be added to the control program 63, and STEP 205 may be executed. Also, in STEP 205, a third condition that takes precedence over the fourth condition may be added.

[0077] (Variation of the second movement path measured on a workpiece-by-workpiece basis) Figure 22(a) is a diagram illustrating a first movement path 160 that connects first teaching points D for point application set on each of multiple workpieces W1 to W4 arranged on the same plane, and Figure 22(b) is a diagram illustrating a first movement path 170 that connects first teaching points L for line application set on each of multiple workpieces W1 to W4 arranged on the same plane. In the examples of Figures 22(a) and (b), workpieces W1 to W4, each having four identical application points, are arranged along one direction on a substrate.

[0078] 22(a), spot application begins at D11 on workpiece W1, and spot application is performed in the order of D12 → D13 ... → D18. After spot application is performed up to D18, the robot moves along the dotted line to D21, the first teaching point on the next workpiece, and spot application is performed in the same order from D21 to D22 ... until D48 on workpiece W4 is the final application point. Each first teaching point is connected by a straight line path that is the shortest distance. Movement paths 161 to 163 connecting the workpieces are also connected by straight lines that are the shortest distances.

[0079] The coating operation on the first movement path 170 shown in Figure 22(b) begins with line coating from the first teaching point L11 on the workpiece W1, passes through the first teaching points L12, L13, and L14 in order, and returns to L11 to complete the rectangular line coating on the workpiece W1. Next, the robot moves from the first teaching point L11 to the first teaching point L21 on the workpiece W2, passes through the first teaching points L22, L23, and L24 in order, and performs the rectangular line coating on the workpiece W2. Similarly, the robot moves to the first teaching point L31 on the workpiece W3 to perform the rectangular line coating on the workpiece W3, and then moves to the first teaching point L41 on the workpiece W4 to perform the rectangular line coating on the workpiece W4. The movement paths 171-173 connecting the workpieces are paths along which no work is performed and are composed of straight lines with the shortest distance. For convenience of drawing, the movement paths 171 to 173 are drawn above the first teaching points L11, L21, L31, and L41, but the movement paths 171 to 173 are paths that connect the first teaching points L11, L21, L31, and L41.

[0080] FIG. 23 illustrates a second movement path 180 for measuring second teaching points set on multiple workpieces arranged on the same plane, work by workpiece. This second movement path 180 can be used in combination with not only the first movement path 160 but also the first movement path 170. For example, first teaching points L11, L12, L13, and L14 correspond to second teaching points P11, P13, P15, and P17, respectively. The second movement path 180 shown in FIG. 23 is a single-stroke path connecting the second movement paths set for each workpiece, and has 32 second teaching points that serve as measurement points for the position information measuring device 30. Workpieces W1 to W4 each have eight second teaching points. The 32 second teaching points of the second movement path 180 have the same coordinates as the 32 first teaching points of the first movement path 160, and the start and end points of the movement path are also the same.

[0081] All second taught points that are passing points of the second movement path 180 have pre-taught-point and post-taught-point paths that are straight-line paths. Second taught points located at corners that serve as direction change sections have an arc path with a central angle of 270 degrees immediately following the post-taught-point path. For example, in the workpiece W1, the second taught point P13 located at a corner has a post-taught-point path with a straight-line path immediately following it, and an arc path with a central angle of 270 degrees immediately following the post-taught-point path. Similarly, second taught points P15 and P17 have post-taught-point paths and arc paths with central angles of 270 degrees. In the second movement path 180, all direction change sections are configured as a combination of pre-arc straight-line paths, arc paths, and post-arc straight-line paths. Therefore, vibrations and inertial forces generated on the arc paths are minimized, and even if they do occur, they are calmed by the post-arc straight-line path. It is also possible to provide a pre-taught-point path consisting of a straight line at the second taught point P11, which is the start point of the path, and a post-taught-point path consisting of a straight line at the second taught point P48, which is the end point of the path.

[0082] The second motion path 180 described above provides a teaching point front-to-back path consisting of a straight line before and after the second teaching point, enabling measurement of position information at the second teaching point while moving at a constant speed, thereby resolving the problem of erroneous measurement due to vibration and inertial force. Furthermore, since each second teaching point is approached via a teaching point front path that overlaps with the first motion paths 160 and 170 and approaches from the same direction, it is possible to solve the problem of coordinate deviation that occurs when feedback correction is performed using position information acquired by the position information measuring device 30.

[0083] (Variation of the Second Movement Path for Measurement Across Each Workpiece) FIG. 24 is a diagram illustrating a second movement path 190 that crosses each workpiece and passes through second teaching points P1 to P48 set on each of multiple workpieces arranged on the same plane. The example in FIG. 24 can also be used in combination with either of the first movement paths 160 and 170. The second movement path 190 shown in FIG. 24 is a single-stroke path set across the workpieces W1 to W4, and has second teaching points P1 to P48 that serve as measurement points for the position information measuring device 30. Each of the workpieces W1 to W4 has eight second teaching points. The 32 second teaching points of the second movement path 190 have the same coordinates as the 32 second teaching points of the second movement path 180, and the second teaching point P11 that serves as the starting point of the movement path is also common. However, the second taught point that is the end point of the second movement path 190 is P45, which is different from the second movement path 180.

[0084] All second taught points that are passing points of the second movement path 190 have a pre-taught point path and a post-taught point path that are straight lines. Also, all direction change sections of the second movement path 190 are configured by a combination of a pre-arc straight line path, an arc path, and a post-arc straight line path, so vibrations and inertial forces that occur on the arc path are minimized, and even if they do occur, they are calmed down by the post-arc straight line path.

[0085] In the second movement path 190, twelve second teaching points from P11 to P43 on the far side of the workpieces W1 to W4 (upper part of FIG. 24) are measured while being moved in one go on a transverse path 191 consisting of a straight path from the leftmost workpiece W1 to the rightmost workpiece W4, and then eleven second teaching points from P46 to P17 on the near side are moved in one go on a transverse path 192 consisting of a straight path from the rightmost workpiece W4 to the leftmost workpiece W1. Here, the position information measuring device 30 measures the position information of the second teaching points P46, P47, P36, P37, P26, P27, P16, and P17, but the second teaching points P35, P25, and P15 are not measured because their approach direction does not match the approach direction on the first movement path. For the second teaching points P35, P25, and P15, a path is created whose approach direction coincides with the approach direction of the first movement path, and position information is measured. For example, for the second teaching point P15 of the workpiece W1, position information is measured by the position information measuring device 30 when approaching the second teaching point P15 via the connecting path 1931, the connecting path 1932, and the connecting path 1933.

[0086] The second motion path 190 described above provides a teaching point front-to-back path consisting of a straight line before and after the second teaching point, enabling measurement of position information at the second teaching point while moving at a constant speed, thereby resolving the problem of erroneous measurement due to vibration and inertial force. Furthermore, since the second motion path 190 approaches each second teaching point via a teaching point front path that overlaps with the first motion paths 160 and 170 and approaches from the same direction, it is possible to resolve the problem of coordinate deviation that occurs when feedback correction is performed using position information acquired by the position information measuring device 30. Furthermore, because the second motion path 190 has a long straight path that crosses the workpiece, high-speed movement along the long straight path can shorten the measurement time.

[0087] (Arc path of a composite arc) The above-mentioned control program 63 can include a circle consisting of a preset ellipse or composite arc in the combination of candidate circles. Figure 25 is a diagram illustrating an example in which the arc path set for each of the above-mentioned second movement paths is an arc path of a composite arc. The circle consisting of a first composite arc shown in Figure 25(a) is a circle consisting of a perfect semicircle on the upper side and an elliptical semicircle on the lower side. The candidate circles of the present invention can also be realized using circles consisting of such composite arcs. Figure 25(a) is an example of a circle suitable for when it takes a long time to accelerate in the + direction of the Y axis and decelerate in the - direction.

[0088] The circle consisting of the second composite arc shown in Figure 25(b) is a circle consisting of a quadrant of a perfect circle having a first radius at the upper left, quadrant of an ellipse at the upper right and lower left, and quadrant of a perfect circle having a second radius at the lower right. Figure 25(b) is an example of a circle suitable for cases where it takes a long time to decelerate in the positive direction of the X axis and accelerate in the negative direction, and to accelerate in the positive direction of the Y axis and decelerate in the negative direction. In this way, in the present invention, by including a circle consisting of an ellipse or a composite arc in the candidate circles, it is possible to shorten the movement distance of the arc path constituting the second movement path and to further suppress vibrations and inertial forces generated when the position information measuring device 30 moves along the arc path.

[0089] While the preferred embodiment and modifications of the present invention have been described above, the technical scope of the present invention is not limited to the above-described embodiments. Various modifications and improvements can be made to the above-described embodiments, and such modifications and improvements are also included in the technical scope of the present invention.

[0090] 1,101: Working robot 2,102: Stand 3,103: Working head 4,104: Work substrate 11,111: First direction drive device 12,112: Second direction drive device 13,113: Third direction drive device 14,114: Mounting member 15: No entry area 20,120: Discharge device 30,130: Position information measuring device 40: First movement path (first embodiment) 50: Second movement path (first embodiment) 60: Robot control device 70: Second movement path (second embodiment) 80: First movement path (third embodiment) 90: Second movement path (third embodiment) 140: First movement path of comparative example 150: Second movement path of comparative example 160: First movement path for point dispensing (fourth embodiment) 170: First movement path for line dispensing (fourth embodiment) 180: Second movement path (fourth embodiment) 190: Second movement path (fourth embodiment) 411 to 416, 811 to 813: First connecting path 421 to 424: Bend points 511 to 514, 711 to 713, 911 to 913: Second connecting path 521 to 527, 721 to 723, 921 to 926: Circular path 531 to 534, 731 to 733, 931 to 933: Path before teaching point 541 to 545, 741 to 743, 941 to 944: Path after teaching point p: First teaching point P: Second teaching point W: Target work

Claims

1. A work robot control method comprising the steps of: creating a first movement path having three or more first taught points and a direction change section; creating a second movement path having three or more second taught points set on said first movement path and an arc path; acquiring position information at or near said second taught points while moving a position information measuring device along said second movement path; correcting the coordinates of said first taught points on said first movement path based on said position information; and performing work with a work device at at least part of said first taught points while moving along the corrected first movement path, wherein in the step of creating said second movement path, a pre-taught point path is set, which is a straight line path that approaches a second taught point, which is a pass point, and a post-taught point path is set, which is a straight line path that is collinear with the pre-taught point path and is set immediately after the second taught point; and wherein said pre-taught point path or said post-taught point path is continuous with said arc path.

2. A work robot control method as described in claim 1, characterized in that the path before the teaching point is a straight path that overlaps with the first movement path and approaches the second teaching point from the same direction or a tangent to the direction change section, and is a straight path that approaches the second teaching point from the same direction as the first movement path.

3. A work robot control method as described in claim 1, characterized in that the second teaching points that are passing points of the second movement path each have a pre-teaching point path that is a straight line path that approaches the second teaching point, and a post-teaching point path that is a straight line path that is collinear with the pre-teaching point path.

4. A work robot control method as described in claim 1, characterized in that in the step of creating the second movement path, a straight line path before the arc and a straight line path after the arc are provided for all arc paths.

5. The work robot control method according to claim 1, wherein the second taught point serving as a passing point includes a second taught point A and a second taught point B adjacent to the second taught point A; the arc path includes an arc path A and an arc path B; the pre-taught point path includes a pre-taught point path A that is a straight path that approaches the second taught point A and a pre-taught point path B that is a straight path that approaches the second taught point B; the post-taught point path includes a post-taught point path A that is a straight path that is collinear with the pre-taught point path A and is provided immediately after the second taught point A, and a post-taught point path B that is a straight path that is collinear with the pre-taught point path B and is provided immediately after the second taught point B; the post-taught point path A functions as a pre-arc straight path A that is continuous with the arc path A; and the pre-taught point path B functions as a post-arc straight path B that is continuous with the arc path B.

6. A work robot control method as described in claim 5, characterized in that in the process of creating the second movement path, a post-arc straight path A is created immediately after the arc path A, and a pre-arc straight path B is created immediately before the arc path B.

7. A work robot control method as set forth in claim 5, wherein the step of creating the second movement path includes selecting as the arc path A a path that passes through one of the arcs of a first circle and a second circle that are tangent to and opposite the post-teaching point path, and that satisfies a first condition that the central angle is the smallest and / or a second condition that the distance is the smallest, and selecting as the arc path B a path that passes through one of the arcs of a third circle and a fourth circle that are tangent to and opposite the post-arc straight line path, and that satisfies the first condition that the central angle is the smallest and / or the second condition that the distance is the smallest.

8. A work robot control method as described in claim 7, wherein a no-entry zone is set in the coordinate system of the second movement path, and in the process of creating the second movement path, arc paths that do not enter the no-entry zone are selected as arc path A and arc path B.

9. A work robot control method as described in claim 6, wherein the arc path A is a path that passes through one of the arcs of a first circle and a second circle that are tangent to and opposite the end point of the post-taught point path A, and the arc path B is a path that passes through one of the arcs of a third circle and a fourth circle that are tangent to and opposite the start point of the pre-taught point path B.

10. A work robot control method as described in claim 9, wherein in the step of creating the second movement path, a combination of arc paths selected from combinations of paths passing through the arcs of two of the first to fourth circles that satisfies a first condition that the sum of the central angles of the arcs of the two circles is the smallest and / or a second condition that the travel distance is the smallest is selected as the arc paths A and B.

11. A work robot control method as described in claim 10, wherein in the step of creating the second movement path, a combination of arc paths that satisfies a fourth condition, in which the central angle of the arc of the circle adjacent to a specific second teaching point is smallest, is selected from combinations of paths that pass through the arcs of two of the first to fourth circles, and is selected as the arc paths A and B by applying priority to the first and second conditions.

12. A working robot control method according to claim 8, wherein the arc paths A and B include an elliptical arc path and / or a circular arc path consisting of compound arcs.

13. A working robot control method according to claim 1, wherein two adjacent second teaching points have different X and Y coordinates.

14. A work robot control method as described in claim 1, wherein the step of creating the second movement path includes selecting as the arc path A a path that passes through one of the arcs of a first circle and a second circle that are tangent to and opposite the post-teaching point path, and that satisfies a first condition that the central angle of the arc is the smallest and / or a second condition that the distance is the smallest.

15. A working robot control method according to claim 1, wherein the number of said second teaching points is less than the number of said first teaching points.

16. A working robot control method according to claim 1, wherein the second teaching points include one or more first teaching points selected from the first teaching points.

17. A working robot control method according to claim 1, wherein the first movement path connects adjacent first teaching points by straight lines.

18. A work robot control method as described in claim 1, wherein the first movement path includes one or more paths along which the robot moves between first teaching points without performing any work, and all of the paths along which the robot moves without performing any work are straight paths.

19. A working robot control method according to claim 4, wherein the arc-post straight-line path is a path that intersects with the second movement path located upstream of the arc-post straight-line path.

20. A working robot control method according to claim 1, characterized in that in the step of acquiring said position information, said position information measuring device is moved at a speed faster than the average moving speed of said working device.

21. A working robot control method according to claim 1, characterized in that in the step of acquiring the position information, the position information measuring device is moved at a speed that is at least three times the average moving speed of the working device.

22. A working robot control method according to claim 1, wherein the arc path includes an elliptical arc path and / or a circular arc path consisting of compound arcs.

23. A working robot control method according to claim 1, wherein the working device is a dispensing device, and in the step of working at the first teaching point, the working device applies the material while moving while maintaining the same height.

24. A working robot control method according to claim 1, wherein the position information measuring device is a laser measuring device that measures the relative distance to an object to be measured.

25. A work robot control method as described in any one of claims 1 to 24, wherein the work device and the position information measuring device are moved relative to each other by a relative drive device comprising a first direction drive device that moves the work head on which the work device is mounted back and forth in a first direction along a beam member, and a second direction drive device that moves a table that holds a workpiece back and forth in a second direction that intersects with the first direction.

26. A working robot comprising: a working device that performs work on a workpiece; a position information measuring device that acquires position information of the workpiece; a relative drive device that moves the working device and the position information measuring device relative to the workpiece; and a control device that controls the operation of the working device, the position information measuring device, and the relative drive device, wherein the control device executes the following steps: creating a first movement path having three or more first taught points along which the working device will perform work and a direction change section; creating a second movement path having three or more second taught points set on the first movement path and an arc path; acquiring position information at or near the second taught points while moving the position information measuring device along the second movement path; correcting the coordinates of the first taught points on the first movement path based on the position information; and performing work with the working device at at least some of the plurality of first taught points while moving the corrected first movement path, In the step of creating the second movement path, the control device sets a pre-taught point path, which is a straight line path that approaches a second taught point that serves as a passing point, and a post-taught point path, which is a straight line path that is set immediately after the second taught point and is on the same straight line as the pre-taught point path, and the pre-taught point path or the post-taught point path is continuous with the arc path.

27. A working robot according to claim 26, wherein the working device is a dispensing device, and the control device, in the step of performing the work, causes the working device to apply the material while moving and maintaining the same height.

28. A working robot according to claim 27, wherein the control device causes the working step to include continuous application within a predetermined range of the first movement path that includes the first teaching point.

29. A working robot according to claim 26, wherein the position information measuring device is a laser measuring device that measures the relative distance to an object to be measured.

30. A working robot as described in claim 26, wherein the control device is provided with a first measurement command function that causes the position information measuring device to acquire position information at the second teaching point, and a second measurement command function that causes the position information measuring device to acquire position information on a path before the teaching point, which are alternatively executed in the step of acquiring the position information.

31. A work robot as described in claim 30, wherein the second measurement command function includes a function to extend the path before the teaching point forward by the distance between the second teaching point and a measurement position on the path before the teaching point, and to shorten the path after the teaching point by the distance between the second teaching point and a measurement position on the path before the teaching point.

32. A working robot as described in any one of claims 26 to 31, wherein the relative drive device comprises a first direction drive device that moves the work head on which the working device is mounted back and forth in a first direction along a beam member, and a second direction drive device that moves the table that holds the workpiece back and forth in a second direction that intersects with the first direction.

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