Teaching control device for manual operations of an industrial robotic system.

摘要

The teaching procedure is performed so that "the relative position of the tool (2n) against the workpiece (1m)" and "the attitude of the tool (2n) against the ground (64)" are maintained constant under the control of "the co-acting mode of the manual operation". "The position and the attitude of the workpiece (1m)" and "the position and the attitude of the tool (2n)" are manipulated in response to "the co-acting mode signal" supplied by the mode changing switch (9), "the robot signal selecting the workpiece handling robot" supplied by the robot changing switch (7) and "the actuating signals" supplied by the group of the keys (12). The manipulation of "the position of the tool (2n)" by the tool handling robot (2) is coordinated with the manipulation of "the position and the attitude of the workpiece (1m)" by the workpiece handling robot (1) maintaining "the attitude of the tool (2n) against the ground (64)" and "the relative position of the tool (2n) against the workpiece (1m)". It is remarkably convenient for such a control of "the co-acting mode of the manual operation" to weld the workpiece (1m) by the torch (2n) maintaining the constant attitude.