| 摘要 |
PROBLEM TO BE SOLVED: To allow operation confirmation work for a working program while an operator stays in a field. SOLUTION: This industrial robot is provided with a robot controller having a teaching and playback device 1 provided with a teaching and playback function for conducting a prescribed operation to the robot, a motion engine 2 for generating serially position commands for operating the robot, a servo control part 4 for generating motive power for the robot by servo control, a pseudo-servo 6 having a function for pseudo-simulating the servo control system 4 to estimate a position followed by the robot actually, and a virtual robot 7 for generating a data for drawing a virtual robot based on the position followed by the robot actually, and a portable teaching device for drawing the virtual robot on a monitor based on the data for drawing the virtual robot generated by the virtual robot 7. COPYRIGHT: (C)2003,JPO
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