METHOD OF ROBOT TEACHING WITH MOTION CONSTRAINTS

摘要

A method for teaching movements to a robot (12) is disclosed. The robot (12) includes a fixture (14) for cooperating with a workpiece (16), at least one sensor (18) for sensing a spatial relationship of the robot fixture (14) relative to the workpiece (16), at least one motor (20), and a microprocessor (22) for controlling motion of the robot (12) relative to the workpiece (16).