ROBOTIC STATION WITH SELF-TEACHING FUNCTIONS

Provided is a robotic station with a self-teaching system. Operation of this system is automatically initiated for eliminating an accumulated error upon completion of a given number of processing cycles or expiration of a given time. The teaching system has a stationary tactile sensor and a stationary reference object the coordinates of which are known and stored in the memory of the CPU. The second stationary reference object is used for defining an operational coordinate system. In the teaching operation, the positions of all working tools, objects, and processing units are determined in the operational coordinate system by sequentially seeking and touching the searchable tools, objects and units with a changeable tactile sensor for recording their coordinates in the CPU and for subsequent use of these coordinates in object processing operations.