| 摘要 |
PURPOSE:To hold an aiming angle after the movement of a robot in the same way as that carried out before the movement in terms of positions of plural specific points of a member to be processed, by teaching the position of said member before its movement and using the position data on both the tip and the root of a wrist working member of the robot. CONSTITUTION:A teaching operation board 101 is set in a teaching mode after setting a member to be processed at its prescribed position. Then a robot is moved manually and the position, speed and the work are taught. A processor 102 produces the command data from the program stored in an ROM103 and stores it to an RAM 104. Then the tip of a working member is manually positioned at two specific points P1 and P2 of the member to be processed, and the teaching is given to the RAM104. Then the coordinates of the tip and root of the working member are measured and stored in the RAM104. When the position of the member to be processed is varied, said specific points are newly positioned by hands again with teaching. The RAM104 is converted into an RAM111 by a conversion matrix 110 obtained from new and old data. The RAM111 is stored. Thus it is possible to hold properly an aiming angle even after an alteration. |
