ARTICULATED STRUCTURE TEACHING DEVICE

摘要

An articulated structure teaching device for teaching a robot a movement intuitively in a way of not imposing burden on a human body, while observing the motion of the robot following the taught content in real time. The device is characterized in that the variations of angles between adjacent joints and/or axial rotations are measured when a fore-end joint of an articulated structure moves, all the variations are summed, the three-dimensional relative position/posture after the movement of the fore-end joint with respect to the three-dimensional relative position/posture before the movement are calculated by using the sum, the calculated position/posture information or corrected position/posture information created by adding additional command information to the calculated position/posture information is outputted, the robot is taught the three-dimensional relative position/posture of an end effector with respect to the reference origin, and the robot is thus allowed to follow the teaching and to move.