| 摘要 |
PROBLEM TO BE SOLVED: To perform indication operation in the moving direction by uniquely making the direction of a pendant correspond to a robot coordinate system, without depending on the subject of an operator, when performing manual operation of a robot body by operating the pendant by the operator. SOLUTION: A robot controller 3 takes in photographing image data of a robot body 2 by a camera 17 of the pendant 4, and makes a 3D model from present position attitude information of the robot body 2. The 3D model is moved by the view point movement until similarity becomes highest to photographing image by the camera 17, and a detected view pint highest in the similarity is set as a pendant view point. A dislocation quantity between the robot coordinate system and a shaft system of a touch panel 14 of the pendant 4 is set. The moving direction operated by indication by the touch panel 14 of the pendant 4 is converted into the moving direction in the robot coordinate system in response to the set dislocation quantity, and thereby being synchronized with the moving direction of the robot body 2 (hand). COPYRIGHT: (C)2011,JPO&INPIT
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