| 摘要 |
<p>PURPOSE:To perform reproduction at designated speed at the time of teaching a path, by performing compensation based on an operating distance at the time of reproducing an operation. CONSTITUTION:At the time of teaching, a continuous position storage means 2 stores automatically the position of a robot 4 detected at every constant time by an operating position detecting means 3 as required, during a time until a completion signal is outputted after a start signal generated from a start/completion signal generating means 1 by the operation of an operator. In the continuous position storage means 2, the operating distance from a position stored just before, and linearity from the position stored just before, are discriminated to store the path to be taught in an appropriate small storage capacity corresponding to required accuracy, and it is decided whether a detected new position of the robot 4 should be stored or not. And a path and operating distance storage means 5 calculates and stores the operating distance from the start position for each position stored on the path. At the time of reproduction, an operating time at the time of reproduction is brought into correspond with the operating distance from the path start position according to given velocity, and the operating position stored on the path is compensated, setting the operating distance on the path as a parameter, and the operation targeted position at a prescribed time can be found.</p> |
