| 摘要 |
PROBLEM TO BE SOLVED: To accurately, efficiently and safely perform teaching to a robot. SOLUTION: Motors M1, M2 for determining the directions (θ,ϕ) of a laser oscillator 31 are connected to a laser communication machine 38. A microwave receiving unit 38b receives microwaves oscillated from a small-sized microwave oscillator in a position indicating tool 10 and detects the general direction of the position indicating tool 10. A CPU 2 detects the receiving intensityρof laser beams from a laser receiving machine 39 according to a measurement starting command from a remote controller 50 and detects the direction indicating a maximum value more than the specified value while scanning as the direction (θ,ϕ) of a reflection ball. At this time, a pulse counter 38a measures the distance L to respective reflection surfaces. A CPU 1 calculates the perpendicular coordinate of a teaching point P indicated by the position indicating tool 10 from L,θ,ϕ. Since the position indicating tool 10 has the spherical reflection surface, it projects the laser beams projected from the optional direction to the projecting direction.
|
