Robot teaching apparatus

摘要

An image of a reference work (7) is captured using a camera (2) and the image is displayed on an image display device (3). A measurement starting point is pointed by an image position pointing device (4). A corresponding view line is obtained using a position on the image and a position and a direction of the camera (2), and a robot (5) approaches the reference work (7) such that it does not deviate from a projecting direction to move to a position suitable for measurement. A slit light is projected and measurement of an inclination of a face in the vicinity of a measuring point is started. An image including a bright line image on the reference work is photographed and 3-dimensional positions of points sequentially measured along a working line. A movement path of a robot is created using these positions as teaching points. <IMAGE>