| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a device for confirming a robot operation route by the use of a graphic function. SOLUTION: A graphic display/operation part 40 formed on a teaching operation board is provided with a display 41 and operation buttons 42 to 45. When the button 45 is depressed, a sequence of points P1, P2,... expressing an operation route is graphically displayed so as to be superposed to a background picture including base and arm graphic pictures 21, 22, a work image W, etc. If a part (around a teaching point Q20) interfering with a picture W' indicating the existence of a projection part exists in the displayed sequence of points, the part is detected as an error in the teaching route. When the operation route is redisplayed after correcting the position data of the teaching point Q20, a route P0, P1, P2,..., P6,..., P11, P12,..., P15,..., P18,..., P23,..., P30 is displayed. Data for calculating the display positions of the sequence of points are prepared by executing route planning processing in a robot controller, generating interpolation points and sampling the interpolation points at a prescribed interval (the number of interpolation points, time, etc.). Display conditions (a visual direction, a scale, a visual position) for graphic display are adjusted by the operation buttons 42 to 44.</p> |
