| 摘要 |
The operation path of a robot is determined by the position data which represent teaching points, and the amounts of shift from the teaching points. The data in a teaching program for determining the operation path of the robot are grouped into position data and shifting vector data. The coordinate values of the teaching points, (X1, Y1, Z1) to (X4, Y4, Z4), are specified as position data. Aside from the values, the data representing the contents of vector <M1> to <M4> are specified. When executing the teaching program, the tool point is moved passing the target point P1 to P4 to which the teaching points P[1] to P[4] are shifted in accordance with the vectors <M1> to <M4>. Since the data on the shifting vectors can be corrected independently, it is possible to correct the operation positions of the robot without actually moving the tool point to the target points P1 to P4. |
