| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot off-line teaching method for facilitating preparation of teaching data. SOLUTION: The robot off-line teaching method includes: setting a plurality of virtual teaching points (STEP2); setting a posture of the virtual tool on a part of the virtual teaching points which include a start point and an end point (STEP3-7); executing an interpolating operation between the part of the virtual teaching points (STEP8); storing a position and a posture of the virtual tool in the execution of the interpolating operation as an interpolating operation point every predetermined interval (STEP9); selecting any of the stored interpolating operation points which satisfies a predetermined selection criterion every other virtual teaching points (step 11 and 12); and reading posture data on the selected interpolating operation point and storing the read posture data as posture data on the other virtual teaching points every other virtual teaching points (step 13-16). COPYRIGHT: (C)2011,JPO&INPIT
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