Abstract: In a welding station, one end of a positioning jig is held by a positioning robot, and the other end of the positioning jig is held by a positioning jig holder mechanism. The positioning robot is moved for positioning and fixing a vehicle body frame, which is fixed to the positioning jig, in any attitude, and a desired welding operation is performed on the vehicle body frame.

Abstract: A method for clinching pieces of metal plate, comprising the steps of: positioning two pieces of sheet metal (6a, 6b) in a clinching station (3), the two pieces of sheet metal (6a, 6b) being provided with at least one area of their edge whereon is applied a hot-curing resin, performing a clinching operation along the edge (16, 17) of said pieces (6a, 6b); and polymerising the resin by means of induction heating, in the same clinching station (3) by means of a heating device (19) which performs a localised heating of the clinched edges (16, 17).

Abstract: A robot controller for an industrial robot is described. The robot controller is a portable controller of the TPU Teach Pendant Unit type and comprises control means for moving a robot in three or more degrees of freedom. The TPU comprises a visual display and selection means associated with programming or controlling a robot. In other aspects of the invention a system comprising a robot and a control unit and the TPU are described. A computer program of the TPU for carrying out the method is also provided.

Abstract: A control device of a work positioning apparatus includes an operating limit line storage unit for storing position coordinates of an operating limit line, a speed reduction zone storage unit for storing a width of a speed reduction zone ranging from a reduction start position to the operating limit line, a check point storage unit for storing position coordinates of check points set in the work, a check point updating unit for determining position coordinates of the check points moved in accordance with an operation of the work positioning apparatus by calculation, an in-speed-reduction-zone determining unit for determining whether the check points enter the speed reduction zone in accordance with the updated position coordinates of the check points, and a work positioning apparatus control unit for instructing a work positioning apparatus motor to reduce a speed if the check points are determined to enter the speed reduction zone.

Abstract: A method for assembling and welding vehicle door panels is disclosed. At an initial assembly station (20) components (10, 10?) of the panels are assembled and arranged on carriages (14, 15) for carrying the panels, which are profiled in a way adaptable to the shape of the panels. The carriages with the components of the panels are automatedly transported to a welding station (20?). At such station a welding head (35), which is movable with a plurality of degrees of freedom, is automatedly positioned and orientated, and if necessary, the configuration of the welding head is automatedly changed. The carriages with the assembled and welded panels are automatedly transported to a removal station (20?). At such station, the assembled and welded panels are removed, and the unloaded plates or carriages are automatedly returned from the removal station to the initial station.

Abstract: Accommodating a welding control cable for connecting a welding power supply and a robot main body and a wire feeder sensor cable connected to a wire feeder encoder in a robot main body driving power cable connecting the robot main body and the robot controller of an arc welding robot. This configuration saves the number of cables to be connected thus improving the installation workability in system deployment on site as well as reducing the overall cost.

Abstract: A robot main body is provided with a protection cover. The robot main body can be swung by a rotary pipe shaft holding a wire feed device and including a hollow portion and is structured such that a connecting cable and/or a gas hose are guided through the hollow portion of the rotary pipe shaft and are then guided through the forearm portion and base portion thereof. The protection cover covers the portions of the connecting cable and/or gas hose ranging from the connecting portion of the wire feed device and connecting cable and/or gas hose to the rotary pipe shaft.

Abstract: A tool changer comprising a master module and a tool module includes a rapid-connect communication bus between the master and tool modules. A unique tool identification number, along with other tool-related information, may be transmitted from the tool module to the master module within about 250 msec of the master and tool modules coupling together. The master module includes a robotic system communications network node connected to the rapid-connect communication bus, and operative to transmit data between the tool and the network via the communication bus. The need for a separate network node in the tool module is obviated, reducing cost and reducing the start-up time required to initialize such a network node upon connecting to a new tool. The rapid-connect communication bus may be a serial bus.

Abstract: An external force estimation system for estimating an external force acting upon a robot apparatus which includes a machine body which in turn includes a plurality of movable joints is disclosed which includes a distribution type contacting state detection section, an actuator current state measurement section, a motion state measurement section, a motion equation setting section, a known term calculation section, and an external force estimation section.

Abstract: A hybrid compact sensing apparatus for generating signals usable for guiding a process robot as a function of an object detected in a scene. The apparatus comprises a laser light generator, two optical sensors, one or more ultrasound sensors, and a control unit, all integrated in a same housing. The laser light generator and the optical sensors form a detection arrangement having a limited detection range compared to that of the ultrasound sensors. The control unit has a processing circuit monitoring the distance of the object measured by the ultrasound sensors, and triggering on the laser light generator and triggering use of the depth profile signals produced by the optical sensors among the signals usable for guiding the process robot when the distance measured by the ultrasound sensors falls within the limited detection range. Integration of an audio and video sensing unit to the apparatus enables remote monitoring.

Abstract: An umbilical-member managing system for an industrial robot. The embodiment of the umbilical-member managing system provided in an arc welding robot serves to lay and manage, along a manipulator, a torch cable connected to a welding torch attached to the manipulator. This umbilical-member managing system includes a support unit provided on the manipulator movably toward and away from the welding torch to support the torch cable; and a biasing mechanism continually biasing the support unit on the manipulator in a direction away from the welding torch. In this arrangement, the support unit may be composed of a wire feeding device for feeding a welding wire in the torch cable toward the welding torch. A guide unit is provided on the manipulator, which can guide the wire feeding device in a direction toward and away from the welding torch.

Abstract: A portable welding cell unit includes a frame structure in which first and second welding stations are disposed. A robot arm is also provided within the frame. The robot arm can pivot between the first and second welding stations such that a work piece can be welded in the first welding station while a work piece is being loaded into or unloaded from the second welding station.

Abstract: A cable arrangement for a robot arm is provided, which includes a rotation arm and a line member such as a power cable. The rotation arm has a front end and a base end, the front end being provided with a swing shaft, the base end being provided with a rotational shaft rotatable about a longitudinal axis. The line member extends from the base end toward the front end of the arm. The rotational shaft includes a line offset member formed with at least one through-hole for passing the line member. The through-hole as a whole is offset from the axis of the rotational shaft.

Abstract: An umbilical-member managing structure for a welding torch in an arc welding robot. The umbilical members include a welding wire fed to the welding torch, a tubular liner surrounding the welding wire, a tube for supplying an assist gas to the welding torch, and an electrical conductor for feeding a welding current to the welding torch. The arc welding robot is provided with a wire feeding device mounted on the manipulator for feeding the welding wire to the welding torch. The umbilical-member managing structure includes a flexible conduit containing the umbilical members, which includes a first connecting section provided at one longitudinal end connected to the welding torch, and a second connecting section provided at another longitudinal end connected to the wire feeding device; and a connection mechanism for rotatably connecting the conduit to at least one of the welding torch and the wire feeding device.

Abstract: A first wrist element is rotatably provided on the front end of a forearm base of a robot. A second wrist element is rotatably provided on the first wrist element. A welding torch is rotatably supported via a transmission mechanism. A wire feeder is disposed at a position other than a forearm. A torch cable is fitted to a slider with an intermediate fitting section. A slider can be pulled backward by returning a wire connected to a tension generator using a pulley. In place of the fitting section, an intermediate guiding section can be provided.

Abstract: A gap welding process (10) for manipulating a movable robotic welder (30) for making a weld between two or more substantially immovable work pieces (51) using a higher level programming language (20). The gap welding process (10) performs a data transfer routine which takes spreadsheet data (18) representing expected variables, runs a data conversion program (20) that creates weld program data including point position, user frames (34 and 36), weld schedule, seam tracking schedule, weave schedule, azimuth orientation, travel speed, wait time, weave type and number of digital output control data. The gap welding process (10) also performs a gap-sensing routine (28) for actual weld gap measuring by using the robotic welder (30) to touch specific locations on pieces forming the gap or fixturing to produce weld variance data.

Abstract: A first wrist element is provided at a distal end of a front arm of an arc welding robot rotatably about a first axial line, a second wrist element is provided on the first wrist element rotatably about a second axial line, and a welding torch is supported on the second wrist element about a third axial line. A slide mechanism which can reciprocate in a direction approximately parallel to the first axial line is provided at a proper position from an upper portion of the front arm to an upper portion of the first wrist element and a wire feeding apparatus is mounted on the slide mechanism. By sliding the position of the wire feeding apparatus in response to the attitude of the welding torch, an extending state of the torch cable can be maintained properly.

Abstract: A robot (1) is provided which includes a situated behaviors layer (SBL) (58). This SBL (58) is formed in the form of a tree structure in which a plurality of schemata (behavior modules) is connected hierarchically in such a matter that the schemata are highly independent of each other for each of them to behave uniquely. A patent schema can define a pattern in which child schemata are connected, such as an OR type pattern in which the child schemata are caused to behave uniquely, AND type pattern in which the plurality of child schemata are caused to behave simultaneously or a SEQUENCE type pattern indicating a sequence in which the plurality of child schemata should behave, thereby permitting to select a behavior pattern of the robot (1). Also, a new child schema can additionally be included in the SBL (58) without having to rewrite the schemata connection in the tree structure, whereby a new behavior or function can be added to the robot (1).

Abstract: An electrical connection of a transfer station releasably, repeatably electrically couples with respect to a matching connection of a portable cartridge. A substrate in the portable cartridge has electrical contacts on a facing surface. In the transfer station, a matching circuitized flexible substrate has electrical contacts on a facing surface thereof, which are arranged to match the portable cartridge electrical contacts when in a face-to-face relationship. An elastomeric compression element, at the rear of the matching substrate, has individual protruding compression members contacting the rear surface and registered with corresponding individual electrical contacts. Elongated electrical contacts are registered with two adjacent individual compression members.

Abstract: A method for providing independent static and dynamic models in a prediction, control and optimization environment utilizes an independent static model (20) and an independent dynamic model (22). The static model (20) is a rigorous predictive model that is trained over a wide range of data, whereas the dynamic model (22) is trained over a narrow range of data. The gain K of the static model (20) is utilized to scale the gain k of the dynamic model (22). The forced dynamic portion of the model (22) referred to as the bi variables are scaled by the ratio of the gains K and k. The bi have a direct effect on the gain of a dynamic model (22). This is facilitated by a coefficient modification block (40). Thereafter, the difference between the new value input to the static model (20) and the prior steady-state value is utilized as an input to the dynamic model (22). The predicted dynamic output is then summed with the previous steady-state value to provide a predicted value Y.

Abstract: A mechanical robot can detect intruders using a camera or other motion sensor or aurally using a microphone, and then alert a user in response.

Abstract: A welded structure is formed by arranging multiple pieces on a three-dimensional support base to provide an assembly in accordance with the structure to be welded and making a picture map of the assembly by photographing the assembly. Weld points are identified from the picture map and welding parameters are determined from the picture map. Control data specifying the weld points and welding parameters are supplied to welding equipment that is operable in a three-dimensional X-Y-Z coordinate system. The welding equipment is moved in the X-Y plane on the basis of the picture map and said control data. The welding equipment is moved along the Z-axis on the basis of Z-axis position data that are acquired by repeatedly measuring the Z-axis position of the support base.

Abstract: A tool changer comprising a master module and a tool module includes a rapid-connect communication bus between the master and tool modules. A unique tool identification number, along with other tool-related information, may be transmitted from the tool module to the master module within about 250 msec of the master and tool modules coupling together. The master module includes a robotic system communications network node connected to the rapid-connect communication bus, and operative to transmit data between the tool and the network via the communication bus. The need for a separate network node in the tool module is obviated, reducing cost and reducing the start-up time required to initialize such a network node upon connecting to a new tool. The rapid-connect communication bus may be a serial bus.

Abstract: The invention relates to a toolholder (10) for coupling a welding torch to an industrial robot (14), comprising a first fixing device (16) for fixing the welding torch (12) to the toolholder (10) and comprising a second fixing device (18) for fixing the toolholder (10) to the industrial robot (14). The first and second fixing devices (16, 18) can be displaced or repositioned with regard to one another counter to the action of spring elements (22, 24). The toolholder also comprises a protective circuit (26) for deactivating the welding torch (12) when predetermined displacements or repositionings are exceeded. A component (28) connected to the first fixing device (16) can be repositioned in the Z-direction (30) (toolholder longitudinal axis) and can be displaced in the X-direction and/or Y-direction (32, 34) with regard to the second fixing device (18).

Abstract: Methods and apparatuses for calibrating and teaching a robot to accurately work within a work environment. The present invention preferably provides one or more tactile sensor devices that may be operatively coupled with a robot or positioned at one or more desired locations within a work environment of the robot. In one aspect of the present invention a method comprises the steps of providing a touch sensitive surface in the work environment, causing the touch sensitive surface to contact an object, generating a signal indicative of the position of the contact with respect to the touch sensitive surface, and using information comprising the generated signal to teach the robot the location of the contact in the work environment.

Abstract: The present invention provides an arc welder in which a robot controller of a teaching playback type robot and a welding power source are of digital control type and the robot controller and the welding power source are coupled through a bus. A welding condition command required for welding and a real welding condition are transmitted digitally through the bus in a parallel mode.

Abstract: A robotic device for moving at least one object between locations, including a servo motor system having a single servo axis for effecting motion in at least two directions of motion. The robotic device includes a link arm rotationally coupled to said servo motor system for lifting and placing said at least one object, a head assembly having gripper arms for gripping and releasing said at least one object at said locations. The head assembly includes a leveling mechanism for maintaining said at least one object in a desired orientation, and a split ring sensing mechanism, disposed between said gripper arms, for determining the presence of said at least one object.

Abstract: Track anomalies in an automated storage library are detected by transmitting a track health signal from one portion of the track. The presence of a track anomaly is determined based on any reception of the transmitted signal at another portion of the track.

Abstract: A robot controller and a welding timer coupled to each other by a dual-port RAM which is connected to data busses thereof, and Initial reference values of welding parameters are stored into a ROM of welding timer in same sequence as character strings of items. When power is turned on, character strings of items and values of the parameters are stored into a RAM of a robot, and both are displayed on a teaching pendant in same sequence. In teaching pendant, values of welding parameters are arbitrarily changed, and then stored into RAM of robot, and also into a RAM of the welding timer via dual-port RAM. A weld command given from the robot to welding timer via dual-port RAM, welding timer performs a welding process on basis of welding parameters which have been edited by teaching pendant and stored in RAM of the welding timer.

Abstract: A welding robot for spot welding is disclosed. The welding robot is capable of grinding electrode tips promptly and clearly. The welding robot 1 includes a servo gun 5 provided at a front end of a multi-joint arm 2, in which a pair of electrode tips for the spot welding are installed, and a control unit 3 for controlling a servo motor 6 of the servo gun in a welding process or a grinding process of the electrode tips. A dresser 18 for grinding the pair of the electrode tips includes a servo motor 27 for rotating a grinding cutter 30. The control unit 3 controls the servo motor 27 of the dresser and controls the servo motor 6 of the servo gun in order to adjust a pressure of the pair of the electrode tips installed in the servo gun with respect to the cutter. In a finishing grinding process of the electrode tips, the speed of revolution of the cutter is increased and the pressure applied to the cutter is reduced relative to the speed and pressure applied in a rough finishing process.

Abstract: An adaptable, servo-control system for force/position actuation generally includes an electric linear actuator and a controller. The controller interfaces with the electric linear actuator and with a number of I/O signals that are independent from the electric linear actuator. The controller interface to the independent I/O signals is transparent to the manner in which the I/O signals are produced. Rather the controller simply looks for the status of the I/O that is preferably received into the controller by hard-wiring or field bus I/O messaging such as from a industrial robot or programmable logic controller. The controller utilizes the I/O signals to select a number of parameters to generate a motion profile for closed loop-controlled, position actuation or force actuation of the electric linear actuator.

Abstract: A system and method for minimizing electromagnetic radiation emissions from a data cartridge handling library employs intermittent operation of the video camera to ascertain correct bin locations and verify automated access between bin locations. This intermittent operation is utilized when an error is suspected or upon a predetermined routine to verify manipulation accuracy.

Abstract: Bendings &Dgr;&agr;, &Dgr;&bgr;, and &Dgr;&thgr; are determined by the torques about the axes of coordinate systems disposed to respective joints and by spring constants. Parameters &agr;, &bgr;, and &thgr;0 are determined by adding an amount of twist to corrected D-H parameters &agr;s, &bgr;s, and &thgr;0s when twist is “0”. A rotational angle &thgr;′ (&thgr;st) is determined from a target position x by executing inverse kinematics using the parameters &agr;s, &bgr;s, and &thgr;0s (step S6). Further, a position x′ is determined from the rotational angle &thgr;′ by executing forward kinematics using the parameters &agr;, &bgr;, and &thgr;0, and the difference &Dgr;x between the target position x and the position x′ is determined. The difference is corrected, and a new target position x is set.

Abstract: A method of three-dimensional handling of an object by a robot uses a tool and one camera mounted on the robot and at least six target features which are normal features of the object are selected on the object. The features are used to train the robot in the frame of reference of the object so that when the same object is subsequently located, the robot's path of operation can be quickly transformed into the frame of reference of the object.

Abstract: Library system health is monitored and displayed based on the location of equipment within the library relative to track layout. Robotic devices travel on rails within the data storage library accessing data storage devices such as cartridges, cassettes, media packages, media access equipment, identification devices, access ports and the like. The rails are divided into a plurality of rail segments. A database holds information about each rail segment. The database is updated based on use of each rail segment by the robotic devices. Data is generated and displayed to describe the use of each rail segment.

Abstract: A robot control system includes a scenario receiver to receive a robot control program or scenario, a scenario register to incorporate the received scenario in the robot, a scenario selector to select a scenario for execution thereof from scenarios beforehand incorporated in the robot and scenarios added to the robot, and a scenario executor to execute the selected scenario. Therefore, there are provided a robot, a robot control system, and a program of the same in which a new control program module can be added to a robot control program.

Abstract: The invention describes a method of positioning a welding torch (10) and a welding wire (13) at the center of a seam (32). The welding torch (10) is positioned by means of a robot arm on a predetermined or programmed position between two seam edges (34, 35), after which an alignment process is run whereby the robot arm moves the welding torch (10) in one direction until a short circuit occurs between the welding torch (10) or the welding wire (13) and a seam edge (34, 35) of the workpiece (16), and the welding torch (10) is then displaced in the opposite direction by the robot arm until another short circuit occurs between the welding torch (10) or the welding wire (13) and another side seam edge (34, 35) of the workpiece (16). A control system (4) then evaluates the displacement path in order to calculate a seam center, on which the welding torch (10) is positioned. No additional hardware components are needed in order to implement the method.

Abstract: A multi-axis articulatable robot with a weld gun having a pair of opposing arms, where at least one arm is movable relative to the other arm to apply pressure to a workpiece during a welding operation. At least one of the opposing arms of the weld gun can be rotatable or translatable relative to the other arm. At least one arm is moved relative to the other arm by an inverted roller screw linear actuator. The robot can include an electric controller for controlling the operation of the actuator of the weld gun as an additional axis of the robot movement. The actuator can be mounted on either of the opposing arms.

Abstract: An automated welding system utilizing integrally mounted robots within a self-contained and repositionable work station. One or more work tables are shuttled between loading and welding stations. The robot is mounted directly adjacent the operating stage, thereby drastically reducing the required floor space. The robot arm is designed to be programed to replicate a desired welding operation in an automated fashion.

Abstract: A welding robot for spot welding is disclosed. The welding robot is capable of grinding electrode tips promptly and clearly. The welding robot 1 includes a servo gun 5 provided at a front end of a multi-joint arm 2, in which a pair of electrode tips for the spot welding are installed, and a control unit 3 for controlling a servo motor 6 of the servo gun in a welding process or a grinding process of the electrode tips. A dresser 18 for grinding the pair of the electrode tips includes a servo motor 27 for rotating a grinding cutter 30. The control unit 3 controls the servo motor 27 of the dresser and controls the servo motor 6 of the servo gun in order to adjust a pressure of the pair of the electrode tips installed in the servo gun with respect to the cutter. In a finishing grinding process of the electrode tips, the speed of revolution of the cutter is increased and the pressure applied to the cutter is reduced relative to the speed and pressure applied in a rough finishing process.

Abstract: A first wrist element is provided at a distal end of a front arm of an arc welding robot rotatably about a first axial line, a second wrist element is provided on the first wrist element rotatably about a second axial line, and a welding torch is supported on the second wrist element about a third axial line. A slide mechanism which can reciprocate in a direction approximately parallel to the first axial line is provided at a proper position from an upper portion of the front arm to an upper portion of the first wrist element and a wire feeding apparatus is mounted on the slide mechanism. By sliding the position of the wire feeding apparatus in response to the attitude of the welding torch, an extending state of the torch cable can be maintained properly.

Abstract: A servo spot welding control system and method to efficiently weld a pair of workpieces together. The system includes a robot movable about the workpieces, a weld gun, servomotors, a transformer, and a controller. The weld gun is mounted on the robot and includes at least two pairs of electrodes. Each pair of electrodes includes a stationary electrode and a moveable electrode. The servomotors are operatively connected to the movable electrodes. The controller actuates the robot to move the robot into position. The controller also actuates the servomotors to clamp the workpieces and to selectively sequence electric current from the transformer to form multiple spot welds on the workpieces.

Abstract: An image of a reference object is captured using a camera and displayed. A measurement starting point is pointed by an image position pointing device. A corresponding view line is obtained using a position on the image and a position and a direction of the camera, a robot approaches to the reference object such that it does not deviate from a projecting direction to move to a position suitable for measurement. A light is projected on the reference object and measurement of an inclination of a face of the object in the vicinity of a measuring point is started. An image including a bright line image on the reference object is photographed and 3-dimensional positions of points sequentially measured along a working line. A movement path of a robot is created using these positions as teaching points for a working robot.

Abstract: A system and method for transmission of communication signals between a controller and a robotic device in a data storage library. The system and method include a substantially planar electrical insulator having opposed first and second sides, and first and second substantially planar oppositely charged electrical conductors on the first and second sides of the insulator for use in providing electrical power to the robotic device. The system and method also include circuitry for generating the communication signals for transmission between the controller and the robotic device on one of the first and second conductors. The width of the second conductor is less than the width of the first conductor and the second conductor is substantially centered on the second side of the insulator relative to the width of the first conductor to reduce fringing of an electromagnetic field resulting from a transmitted communication signal.

Abstract: A technique for judging a welding quality for acceptance or rejection and displaying the result in diagrams, and an automatic welding device incorporating the technique therein. When an operation result record status judging means judges that past operation records are available, temperature distribution operation result records at joints of works to be welded are displayed by a weld penetration display means (23) and bead surface shape operation result records are displayed by a bead surface shape display means (25), whereby time required for operation by a temperature distribution operation means and time required for operation by a bead surface shape operation means (24) are omitted by an operation time omitting means incorporated in the automatic welding device.

Abstract: The present invention is directed to a control that upon detection of an autothread input determines the amount of time in which a motor of a drive assembly should be activated so as to precisely supply an initial segment of wire to a welding gun of a welding system. The control determines the requisite time necessary to precisely thread the welding wire based on a wire feed speed and gun length. The gun length and wire feed speed may be determined from a series of user inputs or read from memory. By limiting user involvement with the actual “feeding” of wire to the welding gun, a more precise segment of welding wire may be fed to the welding gun such that trimming of wire extending past the tip of the welding gun is not needed.

Abstract: An authenticating pattern is disposed on a cover and an authenticating device is disposed in a robot apparatus for authenticating the cover on the basis of the authenticating pattern of the fitted cover. An information holding device for holding inherent information is disposed in the cover and a reading device for reading out the inherent information from the information holding device is disposed in the robot apparatus. A function of detecting an amount of influence due to the cover and changing manifesting patterns of motions as occasion demands on the basis of the detection result is disposed in the robot apparatus.

Abstract: An automated storage library structure, a structure of at least one robot operating within the automated storage library, and a method of connecting the robot to test equipment to facilitate testing. The robot is operative to move about the automated storage library on a guide structure. The test equipment is disposed in a diagnostics center associated with the automated storage library. Communication between the robot and the diagnostics center is provided through a main connector, disposed adjacent to the guide structure at a predetermined position and electrically connected to the diagnostics center, and a test connector mounted on the robot's chassis and electrically connected to the robot's electronics. A second robot may be used to support testing of a sick robot.

Abstract: An arm operation mechanism for an industrial robot includes a support, a first arm, a second arm, a link base, a parallel link and a conversion mechanism. The first arm has a base end pivotally connected to the support for rotation relative to the support. The second arm has a base end pivotally connected to a tip end of the first arm for rotation relative to the first arm. The link base is pivotally connected to the first arm for rotation relative to the first arm. The parallel link keeps a constant posture of the link base upon the rotation of the first arm. The conversion mechanism converts the rotation of the link base relative to the first arm into the rotation of the second arm relative to the link base.

Abstract: The current position of a work is sequentially updated in a conveyor coordinate system, and the path of a robot to follow the work is formed by transforming the position of the work from the conveyor coordinate system to a robot coordinate system.