公开(公告)号：US20190118383A1

公开(公告)日：2019-04-25

申请号：US16164745

申请日：2018-10-18

申请人： KABUSHIKI KAISHA YASKAWA DENKI

发明人： Yasufumi YOSHIURA ,  Hiroshi ANNO

IPC分类号： B25J9/16 ,  G06T7/70 ,  B23Q7/04

摘要： An automation apparatus includes a mechanism having a machine coordinate system and configured to work on a work which moves in the machine coordinate system, a sensor configured to successively detect positions of the work as the work moves, and a processor. The processor is configured to calculate a plurality of machine coordinate positions of the work in the machine coordinate system successively based on the positions successively detected by the sensor, and is configured to determine, based on the plurality of machine coordinate positions of the work, a working position at which the mechanism is configured to work on the work.