| 摘要 |
PROBLEM TO BE SOLVED: To eliminate the need of the correcting work of teaching data even in the case of rotation of a work positioning device. SOLUTION: One point on an object work 3 in an actual robot system 1 is positioned at least three rotation angles with respect to one revolving shaft 7 of a work positioning device 4, and teaching data at these rotation angles are obtained. One point on an object work model in an off-line program device is positioned at least three rotation angles with respect to one revolving shaft of a work positioning device model, and teaching data at these rotation angles are obtained.
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