INDUSTRIAL ROBOT HAVING A DEVICE FOR TEACHING A MOTOR-DRIVEN ARM WITH VARIABLE SERVO-CONTROL

摘要

This invention relates to a robot which can directly learn positions and motions by hand manipulations. This robot comprises arms, an arm driving motor, a sensor for detecting the position of arm, a controller and a memory. The controller consists of a servo-lock control part, a servo-lock shifting method, a positionsignal registration control part and a position-signal registrating method. The servo-lock control part permits the motor voltage which makes the difference between current position detected from the position sensor and the object position zero. In the position-signal registration control part, the output of the position sensor is registrated on the memory.