ROBOT AND ITS TEACHING METHOD

摘要

A robot is provided with a robot arm (28) where a wrist shaft (27) is freely rotatably arranged at a tip part, arm driving means (29 and 30) which displacement-drive the robot arm (28), a wrist shaft driving means (31) rotating/driving the wrist shaft (27), and a robot controlling means (40) controlling the arm driving means (29 and 30) and the wrist shaft driving means (31). The robot controlling means (40) controls the arm driving means (29 and 30) to move the tip part of the robot arm (28), brings a contact member (50) fitted to the wrist shaft (27) into contact with a teaching target (51), detects a posture of the robot arm (28) and an angle position of the wrist shaft (27) when the wrist shaft (27) starts angle displacement by contact of the contact member (50) and the teaching target (51), and decides a position of a teaching point.