| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a device which can automatically obtain a relative position between a robot and a work so as to enable the robot to reach at all its teaching points for the work under carriage. SOLUTION: A robot teaching program of an asynchronous state is prepared at a robot control variable setting part 14, and an initial relative position is tentatively obtained between a robot and a work at a reach propriety decision part 12. Then the part 12 obtains a teaching point position when the work is moved and then decides whether as not the robot reaches at all teaching points. If there is a point where the robot does not reach, the initial relative position is corrected to obtain a new relative position where the robot can reach at all teaching points. Based on this relative position, a robot teaching program of a synchronous state is prepared at the part 14.</p> |
