| 摘要 |
PROBLEM TO BE SOLVED: To automatically add a teaching point to a corresponding position or correct its position even without moving another robot when performing edition operation on a working line of one robot such as addition of the teaching position or correction of its position. SOLUTION: In a robot controller for storing a plurality of working lines formed at a plurality of teaching points taught for each of the same number of robots in one work program, when a teaching point is added or its position is corrected as edition operation for any one of the working lines WR1, a ratio between a spacing distance (a) between the teaching point P111 subjected to edition operation and an immediately previous teaching point P110 and a spacing distance b between the teaching point P111 subjected to edition operation and an immediately subsequent teaching point P120 is calculated, and a teaching point P220 corresponding to the teaching point P111 subjected to edition operation is added to the other working line WR2 or its position is corrected based on the ratio. As for arc-welding robots, for example, a fluctuation in welding speed between both robots can be inhibited. COPYRIGHT: (C)2008,JPO&INPIT
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