ROBOT APPARATUS FOR PAINTING CAR BODY

PURPOSE:To keep the open angle of a door always constant, by mounting a robot for opening and closing the door of a car body to the same truck as a painting robot and detecting the relative position of the car body and the truck to feed back the same to the door opening and closing robot. CONSTITUTION:When the open angle theta of a door D is set by a teached program, a central control circuit calculates the arm position of a door opening and closing robot 4 for opening the door D at the angle theta when the reference position of a body B is allowed to coincide with that of a truck 2 and subsequently calculates the shift amount of both reference positions and applies correction operation so as to parallelly move the wrist parts of the robot 4 by said shift amount to again calculate the arm position and outputs this calculated result to a door opening and closing robot control circuit. By this method, even if the relative position of the body B and the truck 2 is varied, the positions of the wrist parts of the robot are held to a constant stationary position when looked from the reference position of the body B.