| 摘要 |
PURPOSE:To easily teach a robot at optional places without receiving any restrictions, by performing the teaching operation by realizing the same operating locus as the spatial operating locus of a means which designates one point in a space with a multidegree of freedom manipulator. CONSTITUTION:A position/direction input device 110 sends the coordinates of the hand of a teacher to a reference coordinate system and the rotating angle of the hand from the reference coordinate system to a moving quantity determining device 120. The device 120 calculates the moved and rotated quantities of the hand by comparing the sent data of coordinate and rotating angle with those of one hour before and sends the calculated result to a controlling quantity determining device 130. The device 130 finds the joint angle controlling quantity of the robot from the sent moved and rotated quantities and a model of robot mechanism and sends the found quantity to a communication device 140. The device 140 sends commands to rotate each joint by inputted joint angle controlling quantities to a robot controller. |
