| 摘要 |
<p>A method of automatically programming a robot instruction program comprises a first step of inputting data specifying equations for a transformation between a coordinate system set for a machine tool (102, 103) and a coordinate system set for a robot (101); a second step of inputting robot operation positions (P11, P12 ... P15; P21, P22 ... P25) for the machine tool, using the coordinate system for the machine tool; a third step of transforming the robot operation positions specified in the machine tool coordinate system into corresponding coordinate values in the robot coordinate system, using the specified transformation equations; and a step of preparing a robot instruction program using the coordinate values in the robot coordinate system obtained by this transformation.</p> |
