Robot actuator position control method

Abstract

A workpiece is picked up by a robot actuator and transferred to an intermediate position relative to an objectpiece. The robot actuator then transfers the workpiece from the intermediate position to a predetermined location on the objectpiece. The movement of the robot actuator to the intermediate position is made on the basis of coordinate data of the intermediate position stored in a control system which controls the movement of the robot actuator. During transfer of the workpiece from the intermediate position toward the predetermined location, a determination is made as to whether the movement of the workpiece occurs for a predetermined time period. If the determination is negative, then it is concluded that the workpiece has not reached the predetermined location and the operation is shut down. If the determination is positive, then it is concluded that the workpiece has reached the predetermined location, and the coordinates of the workpiece at that predetermined location are used to define the intermediate position for the transfer of the next workpiece. That is done by resetting the coordinates for the intermediate position in the control system in accordance with the coordinates of the workpiece in the predetermined location.