CN115890636A - Tracking system control method and tracking system - Google Patents

Abstract

The invention provides a control method of a tracking system and the tracking system, which can easily and accurately perform following operation of a relatively moving workpiece. In the control method of the tracking system, the tracking system includes a robot that performs work on a relatively moving workpiece while following the workpiece, and a work trajectory of the robot with respect to the workpiece is corrected based on a relative speed of the robot and the workpiece, the work trajectory being generated such that the relative speed is 0 (zero).

Description

Tracking system control method and tracking system

technical field

The invention relates to a control method of a tracking system and a tracking system.

Background technique

Patent Document 1 describes a tracking system that includes a conveyor that conveys workpieces, a vision sensor that photographs the workpieces on the conveyor to detect the positions of the workpieces, and a robot that picks up the workpieces conveyed on the conveyor based on the detection results of the vision sensors. .

Patent Document 1: Japanese Patent Laid-Open No. 2019-141935

Contents of the invention

However, in the tracking system of Patent Document 1, the robot only picks up the workpiece conveyed on the conveyor at a predetermined position, and does not assume the task of tracing the workpiece conveyed on the conveyor, that is, tracing the workpiece while moving along with the workpiece. .

The tracking system control method according to the present invention is characterized in that the tracking system has a robot that performs work on the workpiece while following the relatively moving workpiece, and the operating trajectory of the robot relative to the workpiece is based on the relationship between the robot and the workpiece. The relative velocity of the workpiece is corrected, and the work trajectory is generated by making the relative velocity zero.

The tracking system of the present invention is characterized in that it includes: a robot that works on the workpiece while following the relatively moving workpiece; The relative speed of the workpiece is corrected, and the work trajectory is generated by making the relative speed zero.

Description of drawings

FIG. 1 is an overall configuration diagram showing a tracking system according to a first embodiment.

FIG. 2 is a diagram showing a robot.

FIG. 3 is a diagram illustrating an example of a work trajectory.

FIG. 4 is a flowchart for explaining a method of controlling the tracking system.

FIG. 5 is a diagram showing a secondary correction work trajectory.

FIG. 6 is a diagram illustrating a method of calculating a secondary correction work trajectory.

FIG. 7 is a diagram for explaining the change of the starting point of the work trajectory.

FIG. 8 is an overall configuration diagram showing a tracking system of a second embodiment.

Explanation of reference signs

100…tracking system; 200…robot; 210…base; 220…mechanical arm; 221…first arm; 222…second arm; 230…working head; 231…spline nut; 232…ball screw nut; 233 …spline shaft; 240…end effector; 271…first driving device; 272…second driving device; 273…third driving device; 274…fourth driving device; 290…moving mechanism; 300…shooting device; 400 ...control device; 500...carrying table; 600...conveying device; 620...belt; 630...conveying roller; 640...transporting sensor; A...conveying direction; B...adhesive; Ec...shooting area; Er...working area; G…image; J1…first rotation axis; J2…second rotation axis; J3…third rotation axis; L…length; Lx…separation distance; Ly…separation distance; M…operation track; M1…one-time calibration operation track ;M2...secondary calibration operation track; P1...operation point; P1'...operation point; P2...operation point; P2'...operation point; P3...operation point; P4...operation point; P5...operation point; P6...operation point ;P7...operation point; P8...operation point; P9...operation point; P10...operation point; P11...operation point; P11'...operation point; S1...necessary information acquisition step; S2...image acquisition step; ; S4...operation step; t...moving time; W...workpiece; Wn...workpiece; Wn+1...workpiece.

Detailed ways

The control method of the tracking system and preferred implementations of the tracking system will be described below with reference to the accompanying drawings. It should be noted that, hereinafter, mutually orthogonal directions are referred to as an X axis, a Y axis, and a Z axis, and the Z axis is an axis along a vertical direction. In addition, the direction along the X-axis is called "X-axis direction", the direction along the Y-axis is called "Y-axis direction", and the direction along the Z-axis is called "Z-axis direction".

first embodiment

FIG. 1 is an overall configuration diagram showing a tracking system according to a first embodiment. FIG. 2 is a diagram showing a robot. FIG. 3 is a diagram illustrating an example of a work trajectory. FIG. 4 is a flowchart for explaining a method of controlling the tracking system. FIG. 5 is a diagram showing a secondary correction work trajectory. FIG. 6 is a diagram illustrating a method of calculating a secondary correction work trajectory. FIG. 7 is a diagram for explaining the change of the starting point of the work trajectory.

The tracking system 100 shown in FIG. 1 has a robot 200 , an imaging device 300 , a control device 400 and a transport device 600 . In the tracking system 100, the conveying device 600 conveys the workpiece W along the conveying direction A, which is along the horizontal direction, the control device 400 detects the conveying status of the workpiece W based on the image G Work is performed on the workpiece W while following the conveyance status of W.

There are no particular limitations on the workpiece W and the work performed on the workpiece W. In this embodiment, the workpiece W is a shoe outsole (outsole), and the work performed on the workpiece W is for coating on the workpiece W. It is used to bond the adhesive B of the shoe upper (upper). That is, the tracking system 100 of the present embodiment is a system that functions as a part of a shoe manufacturing device. With such workpiece W and work, the tracking system 100 can be effectively used.

Robot 200

As shown in FIG. 2, the robot 200 is a SCARA robot (horizontal articulated robot). The robot 200 has a base 210 fixed on the ground and a robot arm 220 connected to the base 210 . The mechanical arm 220 has: a first arm 221, the base end of which is connected to the base 210, and rotates with respect to the base 210 around the first rotation axis J1 along the vertical direction; and a second arm 222, whose base end is connected to the first arm 221. The front end of the arm 221 is connected to the first arm 221 and rotates around the second rotation axis J2 along the vertical direction.

In addition, a working head 230 is provided at the front end portion of the second arm 222 . The working head 230 has a spline nut 231 and a ball screw nut 232 arranged coaxially at the front end of the second arm 222 , and a spline shaft 233 inserted through the spline nut 231 and the ball screw nut 232 . The spline shaft 233 is rotatable with respect to the second arm 222 about the third rotation axis J3 in the vertical direction, and can be raised and lowered along the third rotation axis J3.

In addition, an end effector 240 is attached to the lower end of the spline shaft 233 . As the end effector 240, an end effector that is detachable and suitable for the target work is appropriately selected. The end effector 240 of this embodiment is a dispenser that ejects the adhesive B from its lower end.

In addition, the robot 200 has: a first driving device 271, which makes the first arm 221 rotate around the first rotation axis J1 relative to the base 210; The rotation axis J2 rotates; the third driving device 273 rotates the spline nut 231 to rotate the spline shaft 233 around the third rotation axis J3; and the fourth driving device 274 rotates the ball screw nut 232 to rotate the spline shaft 233 is raised and lowered in the direction along the third rotation axis J3.

In addition, the first, second, third, and fourth drive devices 271 , 272 , 273 , and 274 are respectively provided with a motor as a drive source and an encoder for detecting the rotation amount of the motor. When the tracking system 100 is in operation, the control device 400 executes feedback control for making the position of the robot arm 220 represented by the output of each encoder coincide with a target position that is a control target. Thereby, it is possible to cause the robot 200 to execute a predetermined work.

The robot 200 has been described above, but the robot 200 is not particularly limited, and may be, for example, a six-axis robot including a robot arm having six rotation axes.

Conveyor 600

The conveying device 600 is a belt conveyor, and as shown in FIG. The output is sent to the delivery amount sensor 640 of the control device 400 . The delivery amount sensor 640 is, for example, an encoder. When the tracking system 100 is in operation, the control device 400 executes feedback control for making the conveyance speed of the workpiece W indicated by the output of the conveyance amount sensor 640 coincide with a target conveyance speed which is a control target. Accordingly, the workpiece W can be stably conveyed at a desired speed.

Camera 300

The imaging device 300 is a camera that photographs the workpiece W from above the conveyance device 600 and outputs the captured image G to the control device 400 . The imaging area Ec of the imaging device 300 is located on the upstream side in the conveyance direction A with respect to the work area Er of the robot 200 . As shown by the dotted line in FIG. 1 , the imaging device 300 has an angle of view including the workpiece W conveyed on the belt 620 . The position in the image G output from the photographing device 300 is associated with the position in the transport path through the control device 400 . Therefore, when the workpiece W exists within the angle of view of the imaging device 300 , the control device 400 can specify the coordinates (position) of the workpiece W based on the position of the workpiece W in the image G. In addition, the control device 400 may specify the posture of the workpiece W by, for example, template matching in which a plurality of pre-stored templates are compared with the outline shape of the workpiece W in the image G. However, the method of specifying the position and orientation of the workpiece W is not particularly limited.

control device 400

As shown in FIG. 1 , the control device 400 controls the driving of the robot 200 , the imaging device 300 and the conveying device 600 respectively. Such a control device 400 is constituted by a computer, for example, and has a processor (CPU) for processing information, a memory communicably connected to the processor, and an external interface for connecting to an external device. Various programs executable by the processor are stored in the memory, and the processor can read and execute various programs stored in the memory. It should be noted that part or all of the components of the control device 400 may be arranged inside the casing of the robot 200 . In addition, the control device 400 may be constituted by a plurality of processors.

The overall structure of the tracking system 100 has been briefly described above. Next, a method of controlling the tracking system 100 will be described based on the flowchart shown in FIG. 4 . As shown in FIG. 4 , the control method of the tracking system 100 includes a necessary information acquisition step S1 , an image acquisition step S2 , a trajectory correction step S3 and an operation step S4 .

Necessary information acquisition step S1

The necessary information acquisition step S1 is performed before starting the adhesive coating operation on the workpiece W, and various information necessary for the operation is acquired, for example, from a host computer (not shown). Various types of information are not particularly limited, and include, for example, CAD data of the workpiece W necessary for template matching to detect the posture of the workpiece W on the conveyance device 600 , and specify the operation of the robot 200 when applying the adhesive B. (In particular, the operation trajectory M of the end effector 240) and the like.

The work trajectory M is generated assuming that both the robot 200 and the workpiece W are at rest, that is, their relative speeds are 0 (zero). As shown in FIG. 4 , the working trajectory M in this embodiment is a trajectory in which the end effector 240 makes one round around the outer edge of the workpiece W. As shown in FIG. In addition, the work trajectory M has a plurality of work points P1, P2, P3, P4, P5, P6 arranged along the outer edge of the workpiece W arranged in a predetermined posture and position (hereinafter also referred to as "reference position posture Q0"). , P7, P8, P9, P10, P11, the adjacent operating points are respectively connected by straight lines. Therefore, the work trajectory M becomes a relatively simple trajectory, the yield of the adhesive coating operation is improved, and the life of the robot 200 can be extended. In addition, in the work trajectory M, the work points P1 and P11 have the same coordinates, the work point P1 is the start point for starting the work, and the work point P11 is the end point for the end of the work.

In addition, the position of each work point P1-P11 can be specified based on the robot coordinate system set to the robot 200, for example. The robot coordinates of the work points P1 to P11 are three-dimensional coordinates (xn, yn, zn), and include coordinates in the vertical direction, that is, in the height direction of the workpiece W, in addition to the x-coordinate and y-coordinate in the horizontal direction. In addition, at each of the work points P1 to P11 , the work trajectory M is generated such that the separation distance between the workpiece W and the end effector 240 is equal. Accordingly, the application amount of the adhesive B becomes uniform over the entire area of the work track M, and high-precision work can be performed.

Image acquisition step S2

When the conveying device 600 is driven at a constant speed to start conveying the workpiece W by the conveying device 600, the control device 400 continuously photographs the workpiece W at a predetermined frame rate through the photographing device 300 during the period when the workpiece W passes through the imaging area Ec, and acquires images of the workpiece W. Multiple images G of W. Next, the control device 400 obtains the coordinates of the workpiece W at each time from the acquired images G, and detects the conveyance speed Vw of the workpiece W based on the obtained coordinates. According to such a method, the conveyance speed Vw can be detected easily and with high accuracy. Here, since the robot 200 is fixed on the ground or the like as described above, the transport speed Vw corresponds to the relative speed between the robot 200 and the workpiece W. As shown in FIG.

It should be noted that, when a plurality of workpieces W are continuously conveyed by the conveying device 600 , the conveying speed Vw may be detected for all the workpieces W, or may not be detected. Since the conveyance device 600 is driven at a constant speed, only the conveyance velocity Vw of the first workpiece W may be detected, and the detected conveyance velocity Vw may be used as the conveyance velocity Vw of the subsequent workpiece W. In addition, the conveyance speed Vw can also be updated at predetermined time intervals or at intervals of a predetermined number of workpieces (every predetermined number of workpieces). In addition, the detection method of the conveyance speed Vw is not specifically limited, For example, the conveyance speed Vw can be detected based on the signal output from the conveyance amount sensor 640 with which the conveyance apparatus 600 is equipped. Also according to such a method, the conveyance speed Vw can be detected easily and with high accuracy.

In addition, the control device 400 uses at least one image G to detect the posture of the workpiece W by template matching in which the contour of the workpiece W reflected in the image G is compared with the above-mentioned CAD data stored in advance. In this way, information on the position and posture of the workpiece W (hereinafter also referred to as “position and posture”) is obtained.

Trajectory correction step S3

In the trajectory correction step S3, the control device 400 first corrects the work trajectory M based on the position and posture of the workpiece W obtained in the image acquisition step S2 (hereinafter also referred to as "actual position and posture Q1"). That is, the control device 400 detects a deviation between the reference position and posture Q0 and the actual position and posture Q1 , and corrects the work trajectory M based on the detected deviation. Hereinafter, this corrected work trajectory M is referred to as a primary corrected work trajectory M1.

Next, the control device 400 corrects the primary correction work trajectory M1 based on the conveyance speed Vw of the workpiece W obtained in the image acquisition step S2. As described above, since the primary correction operation trajectory M1 is generated assuming that both the robot 200 and the workpiece W are stationary, even if the robot 200 is driven along the primary correction operation trajectory M1 for the workpiece W being conveyed at the conveyance speed Vw, it cannot Adhesive B is applied along the outer edge of workpiece W. That is, the adhesive coating operation cannot be properly performed. Therefore, in order to properly perform the adhesive coating operation on the workpiece W being conveyed, it is necessary to correct the primary correction operation trajectory M1 based on the conveyance speed Vw, that is, the relative speed between the workpiece W and the robot 200 . Hereinafter, the corrected primary calibration work trajectory M1 is referred to as secondary calibration work trajectory M2.

As shown in FIG. 5 , the working point P1 of the secondary calibration work trajectory M2 (hereinafter also referred to as "working point P1'") has the same coordinates as the working point P1 of the primary calibration work trajectory M1. On the other hand, the work point P2 of the secondary correction work trajectory M2 (hereinafter also referred to as "work point P2'") is different from the work point P2 of the primary correction work trajectory M1 from the work point P1 to the work point P2. The amount of moving time of is deviated to the downstream side of the transport direction A accordingly. Therefore, the straight line connecting the working point P1' and the working point P2' is the corrected trajectory.

Here, an example of the calculation method of the coordinates of the work point P2' is shown. As shown in Figure 6, set the separation distance between the operation point P1 and the operation point P2 in the X-axis direction (transportation direction A) as Lx, set the separation distance in the Y-axis direction as Ly, and set the distance from the operation point P1 to the operation When the movement time of the robot 200 at the point P2 is t, and the length of the straight line (corrected trajectory) connecting the work point P1' and the work point P2' is L, they are related by the following formula (1).

Formula 1

In addition, assuming that the robot 200 performs an ideal motion, the length L can be represented by the travel time t as shown in the following formula (2). In addition, in Formula (2), Vrb is the speed of the robot 200 at a constant speed, a+ is the acceleration of the robot 200 when it accelerates, and a- is the acceleration of the robot 200 when it decelerates.

Formula 2

Also, by setting the following equation (3) based on the above equations (1) and (2), the travel time t can be obtained, and the work point P2' can be calculated based on the obtained travel time t.

Formula 3

The calculation method of the working point P2' has been described above, and the remaining working points P3 to P11 are also corrected in the same manner. That is, the working point P3 of the secondary correction work trajectory M2 (hereinafter also referred to as "work point P3'") is related to the movement of the robot 200 from the work point P1 to the work point P3 with respect to the work point P3 of the primary correction work trajectory M1. The amount of time deviates toward the downstream side of the transport direction A accordingly. Therefore, the straight line connecting the working point P2' and the working point P3' is the corrected trajectory. The working point P4 of the secondary correction work trajectory M2 (hereinafter also referred to as "work point P4'") relative to the work point P4 of the primary correction work trajectory M1, and the movement time of the robot 200 from the work point P1 to the work point P4 The amount deviates to the downstream side of the transport direction A accordingly. Therefore, the straight line connecting the working point P3' and the working point P4' is the corrected trajectory. The same applies to the working point P5' and thereafter.

In the above trajectory correction step S3, the operation trajectory M is corrected to generate the primary correction operation trajectory M1, and then the primary correction operation trajectory M1 is corrected to generate the secondary correction operation trajectory M2, but it is not limited to this, and can also be simultaneously The primary correction and the secondary correction are performed, and the secondary correction operation trajectory M2 is directly generated according to the operation trajectory M.

After the secondary correction work trajectory M2 is generated in this way, the control device 400 determines whether the work point P11', which is the end point of the secondary correction work trajectory M2, is located within the work area Er of the robot 200. If the work point P11' is located outside the work area Er, the robot 200 cannot complete the adhesive coating work at this time. Therefore, the control device 400 notifies the user of this fact, and slows down the transport speed Vw so that the work point P11' is included in the work area Er. Alternatively, the user is reminded to decrease the conveyance speed Vw. Accordingly, the adhesive application work can be reliably completed in the work area Er.

Job step S4

In the work step S4, the robot 200 is driven based on the secondary corrected work trajectory M2 obtained in the trajectory correction step S3, and the adhesive B is ejected from the end effector 240, thereby performing adhesive application while following the workpiece W. Apply homework. As a result, the adhesive B is applied along the outer edge of the workpiece W, and the expected work is performed with high precision.

The control device 400 sequentially performs steps S1 to S4 as described above with respect to the plurality of workpieces W conveyed continuously. Here, it is conceivable that the position and posture of the n+1-th conveyed workpiece Wn+1 differs from the n-th conveyed workpiece Wn. In this case, the starting point may be changed from the working point P1 for the secondary correction working trajectory M2 for the workpiece Wn+1.

When the robot 200 finishes applying the adhesive to the workpiece Wn, the robot 200 needs to move to the starting point of the workpiece Wn+1. Therefore, in this case, the separation distance between the working point P11', which is the end point of the workpiece Wn, and the working point P1', which is the starting point of the workpiece Wn+1 (=the working point P1 of the primary correction work trajectory M1) becomes large. , the start time of the work on the workpiece Wn+1 is delayed, and it may be difficult to complete the adhesive coating work in the work area Er.

Therefore, when the position and posture of the workpiece Wn+1 relative to the workpiece Wn are different, the control device 400 can detect the working point P11′ of the workpiece Wn among the working points P1 to P11 of the primary correction operation trajectory M1 of the workpiece Wn+1. The separation distance is smaller than the separation distance between the work point P11' of the workpiece Wn and the work point P1 of the workpiece Wn+1, it is more preferable to detect the work point with the smallest separation distance from the work point P11' of the workpiece Wn, and The working point is set as the starting point of the workpiece Wn+1. In the configuration shown in FIG. 7 , the working point P5 can be set as the starting point of the workpiece Wn+1. According to such a control method, the time from the completion of the work on the workpiece Wn to the start of the work on the workpiece Wn+1 is shortened, and the delay in the start time of the work on the workpiece Wn+1 can be effectively suppressed.

The tracking system 100 and its control method have been described above. As described above, in this method of controlling the tracking system 100, the tracking system 100 has the robot 200 that performs work on the workpiece W while following the relatively moving workpiece W. The operation trajectory M of the robot 200 with respect to the workpiece W generated so that Vw is 0 (zero) is corrected based on the conveyance speed Vw. According to such a control method, desired work can be performed also on the workpiece W that moves relatively.

In addition, as described above, in the control method of the tracking system 100 , the workpiece W is transported by the transport device 600 . Thereby, it becomes the tracking system 100 with a simpler structure.

In addition, as described above, in the control method of the tracking system 100, an image G including the workpiece W is captured at a position upstream of the work area Er of the robot 200 in the conveyance direction A of the workpiece W, and based on the image G, the image G is detected. The relative speed is the conveying speed Vw of the workpiece W. Thereby, the conveyance speed Vw can be detected with high precision.

In addition, as described above, in the control method of the tracking system 100 , the position and posture of the workpiece W are detected based on the image G. As a result, it is possible to work on the workpiece W more reliably.

In addition, as described above, in the control method of the tracking system 100 , the starting point of the work trajectory M is changed according to the posture of the workpiece W. As shown in FIG. Accordingly, the time from the completion of the work on the workpiece Wn to the start of the work on the workpiece Wn+1 can be shortened, and the delay in the start time of the work on the workpiece Wn+1 can be effectively suppressed.

In addition, as described above, in the control method of the tracking system 100 , the conveyance speed Vw of the workpiece W may be detected based on the signal from the conveyance amount sensor 640 included in the conveyance device 600 . Thereby, the conveyance speed Vw can be detected with high precision.

In addition, as described above, the work is to apply an adhesive to the workpiece W. FIG. Thereby, the control method of the tracking system 100 can be utilized effectively.

In addition, as described above, the workpiece W is a shoe sole. Thereby, the control method of the tracking system 100 can be utilized effectively.

In addition, as described above, the work trajectory M includes z-axis coordinates that are height information perpendicular to the conveyance direction A of the workpiece W. As shown in FIG. Accordingly, high-precision work can be performed on a three-dimensional object such as the workpiece W as well.

In addition, as described above, the work trajectory M is composed of continuous straight lines. Thus, the work trajectory M becomes a relatively simple trajectory, so that the yield of the work is improved and the life of the robot 200 can be extended.

In addition, as described above, the tracking system 100 includes: the robot 200 that performs work on the workpiece W while following the relatively moving workpiece W; The generated work trajectory M of the robot 200 with respect to the workpiece W is corrected based on the conveyance speed Vw. According to such a configuration, desired work can be performed on the relatively moving workpiece W as well.

In addition, the tracking system 100 has the conveyance device 600 for conveying the workpiece W as described above. Thereby, it becomes the tracking system 100 with a simpler structure.

second embodiment

FIG. 8 is an overall configuration diagram showing a tracking system of a second embodiment.

The tracking system 100 of this embodiment is the same as the tracking system 100 of the above-mentioned first embodiment except that the robot 200 performs work on the workpiece W while moving relative to the stationary workpiece W. FIG. Therefore, in the following description, regarding the present embodiment, the differences from the above-mentioned first embodiment will be mainly described, and the description of the same items will be omitted. In addition, in each figure of this embodiment, the same code|symbol is attached|subjected to the same structure as said embodiment.

As shown in FIG. 8 , in the tracking system 100 of the present embodiment, the conveyance device 600 is omitted, and each workpiece W is placed on the mounting table 500 and remains stationary. On the other hand, the robot 200 has the moving mechanism 290 , and the robot 200 continuously performs a follow-up operation on each of the workpieces W on the mounting table 500 while moving. That is, in the present embodiment, the relative speed between the robot 200 and the workpiece W means the moving speed of the robot 200 .

It should be noted that the robot 200 having the moving mechanism 290 is not particularly limited, and for example, an automatic transport vehicle (AGV), an autonomous transport robot (AMR), or the like can be used. In addition, for example, a robot that can move on rails may be used.

Also according to the second embodiment described above, the same effects as those of the first embodiment described above can be exhibited.

The control method of the tracking system and the tracking system of the present invention have been described above based on the illustrated embodiments, but the present invention is not limited thereto, and the configuration of each part can be replaced with any configuration having the same function. In addition, other arbitrary components may be added to the present invention. In addition, the respective embodiments may be appropriately combined.

Claims (13)

1. A control method of a tracking system, characterized in that,

the tracking system includes a robot that performs work on a workpiece while following the workpiece that moves relative to the workpiece,

the work trajectory of the robot with respect to the workpiece is corrected based on the relative speed of the robot and the workpiece, and the work trajectory is generated such that the relative speed is zero.

2. The control method of a tracking system according to claim 1,

and conveying the workpiece by a conveying device.

3. The control method of a tracking system according to claim 2,

an image including the workpiece is captured at a position on an upstream side in a conveying direction of the workpiece with respect to a working area of the robot, and the relative speed is detected based on the image.

4. The control method of a tracking system according to claim 3,

detecting a position and a posture of the workpiece based on the image.

5. The control method of a tracking system according to claim 4,

changing a starting point of the operation track according to the posture of the workpiece.

6. The control method of a tracking system according to claim 2,

the relative speed is detected based on a signal from a conveyance amount sensor provided in the conveyance device.

7. The control method of a tracking system according to any one of claims 1 to 6,

the work is to apply an adhesive to the work.

8. The control method of a tracking system according to claim 7,

the workpiece is a shoe sole.

9. The control method of a tracking system according to any one of claims 1 to 6,

the work trajectory includes height information orthogonal to the conveying direction of the workpiece.

10. The control method of a tracking system according to any one of claims 1 to 6,

the working trajectory is constituted by a continuous straight line.

11. A tracking system, comprising:

a robot that performs work on a relatively moving workpiece while following the workpiece; and

and a controller that corrects a work trajectory of the robot with respect to the workpiece, the work trajectory being generated such that the relative speed is zero, based on the relative speed of the robot and the workpiece.

12. The tracking system of claim 11,

the tracking system has a transport device that transports the workpiece.

13. The tracking system of claim 11,

the robot has a moving mechanism.

Images