| 摘要 |
PROBLEM TO BE SOLVED: To perform the teaching works for a polishing robot simply and accurately. SOLUTION: The present invention comprises a work shape input means 10, a teaching point preparing means 14 which takes in the surface data of a work 12 from the means 10, sets the polishing line upon determination of the intersecting line of the curved surface of the work 12 with a specified plane, makes setting of the starting point and ending point of polishing on the polishing line, determnines the teaching position on the work 12 by specifying the spacing on the polishing line between the starting and ending points, sets the working attitude in the teaching position so as to be perpendicular to the curved surface of the work 12 on the polishing line, and calculates the location and attitude of the teaching point of a robot 18 from the positional relationship between a polishing device 20 and the robot 18, and a robot control device 16 to control the position and attitude of the hand tip of robot 18 fitted with the work 12 relative to the polishing device 20 on the basis of the data obtained through calculation by the teaching point preparing means 14. |
