| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot to which teaching, based on which the robot starts processing to a second point on an inclined plane from a first point separated in a vertical direction from the inclined plane, can be performed with high precision while reducing labour for the teaching.SOLUTION: A robot 1 comprises a work tool 4 that performs work to a work point Pa and moving means 2 that moves and changes a posture of the work tool 4. Operating means 35 receives operation for specifying two or three arbitrary coordinates on an inclined plane. When the operating means receives the operation, calculating means 553 calculates on the basis of the two or three arbitrary coordinates a direction in which the work tool 4 is directed from the work start point Pb toward the work point Pa. Further, control means 53 moves the work tool 4 to the work start point Pb and directs a posture of the work tool 4 toward the work point Pa according to the calculation by the calculating means 553, and makes the work tool 4 to start processing to the work point Pa.SELECTED DRAWING: Figure 1 |
