| 摘要 |
<p>A robot off-line teaching method for determining the last position and the last posture of a robot (2) when the robot (2) capable of stopping at an arbitrary location on a traveling axis (1) and taking an arbitrary position at the arbitrary location starts from an arbitrary initial location while taking an initial posture and moves while changing the position and posture so that its control point (5) moves to a movement target (7). The last position is determined on the traveling axis (1) of the robot (2) in such a way that the distance between the coordinate origin (3) of the robot (2) and the movement target point (7) is the shortest.</p> |
