| 摘要 |
PURPOSE:To safely teach the attitude of a multi-joint robot in a short time, by conversationally teaching the robot attitude by using graphic commands and a joystick while confirming the robot attitude on a display. CONSTITUTION:An objective model is three-dimensionally parallel-projected from an optional direction set by a user as shown by the illustration 21. Then the objective model is three-dimensionally parallel-projected from the direction of the normal line to a welding point 29 as shown by the illustration 22 and the attitude route of a robot is defined. Thereafter, representative welding points 28 and 29 of the welding route are defined by using a joystick and the three- dimensional coordinate values of the welding point 29 are indicated in a displaying place 30. After the display, the objective model is three-dimensionally parallel-projected from the advancing direction of a torch 26 as shwon by the illustration 23 and a welding angle is set. Then the objective model is three-dimensionally parallel-projected from the direction perpendicular to the directions of the illustrations 22 and 23 as shown by the illustration 24 and another welding angle is set. After the attitude definition is completed, all welding operations are displayed through animations and, if inconvenience exists, the attitude definition is corrected. |
