| 摘要 |
<P>PROBLEM TO BE SOLVED: To allow even a teacher having no knowledge about force control to simply teach and replay contacting work of fitting or the like by an intuitive operation with a high successful rate, by preventing excessive force and increase of tact time. <P>SOLUTION: The robot teaching replaying device includes a force control setting means, a force control manual operation means, a force control state display means and a work state preserving means in a teaching pendant. The force control setting means includes an operation mode selecting means for the respective axial directions of the coordinate system, and the force control manual operation means corrects the operation by increasing/decreasing the positional or force command by superposing it on the operation of the operation program, according to the operation mode during replaying the operation program in a test operation. By the superposed correction operation, the robot work is led to success by the decision of an operator by appropriate force controlling. The data of this time are registered again as the corrected operation program data of the robot. The re-registered operation program is the data appropriately induced by the operator, and therefore, serves as the teaching data with a high success probability. <P>COPYRIGHT: (C)2012,JPO&INPIT |
