| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an automatic teaching method capable of preventing the generation of particles without causing the deformation of an end effector or a target. <P>SOLUTION: A robot control means 40 controls an arm driving means to move the tip of a robot arm 28 until a contact member 50 mounted to a wrist shaft contacts with a teaching target 51, and detects the attitude of the robot arm 28 and the angle position of the wrist shaft to determine the position of a teaching point when the wrist shaft starts its angle displacement with the contact member 50 contacting with the teaching target 51. <P>COPYRIGHT: (C)2013,JPO&INPIT |
