| 摘要 |
PROBLEM TO BE SOLVED: To provide a method and a device for teaching the attitude of a robot arm capable of preventing the operating angle of the robot arm from being undesirably increased by reducing the labor and time for teaching by the operator and reducing a necessary power by reducing the potential energy of the attitude of the robot arm. SOLUTION: A rear coordinate origin O<SB>7</SB>at which a hand 8 is temporarily positioned is calculated to determine whether interference is present or not. When interference is absent, the angles of joints J1, J2 are specified, and the coordinate origin O<SB>4</SB>of an elbow part 4 is calculated. Based on the coordinate origin O<SB>4</SB>, the presence or absence of interference is determined, and a wrist angle is calculated. COPYRIGHT: (C)2009,JPO&INPIT
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