THREE-DIMENSIONAL TEACHING METHOD AND DEVICE THEREFOR

摘要

PROBLEM TO BE SOLVED: To provide a three-dimensional(3D) teaching method and device capable of executing highly accurate working by excluding a part to be observed by an operator in teaching work. SOLUTION: A controller executes control so that a working head 1 moves while plotting a circular arc 5 around a teaching point Tp in a coordinate face vertical to the axis 3 of the head 1. At the time, a gap sensor 7 arranged on the tip of the head 1 detects an interval between the head 1 and a work W and the head 1 is controlled so as to move at a fixed interval by a signal from the sensor 7. An operation part in the controller finds out an angular differenceΔθbetween the circular arc 5 and an execution route 11 plotted at the fixed interval from the work W on the coordinate face and an operation command part corrects the inclination of the axis 3 of the head 1 only by the found angular differenceΔθ.