| 摘要 |
PROBLEM TO BE SOLVED: To provide a method wherein an operator safely directly operates a robot and corrects the position of the robot when a workpiece causes displacement in a play back operation. SOLUTION: A direct operation device for guiding the robot is provided on a wrist tip end part of the robot, and the direct operation device is equipped with an enabling device which controls a permission state permitting the operation of the robot and a prohibition state prohibiting the operation of the robot. When the robot is stopped in a way during play back operation, the robot is made to be in the permission state by the operation of the enabling device, the guidance is performed, and made to be in the prohibition state after completion of positional correction. Afterward, the play back operation is continuously started based on the working program. COPYRIGHT: (C)2006,JPO&NCIPI
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