METHOD FOR MODIFYING TAUGHT POSITION OF ROBOT

摘要

This method is for enhancing the efficiency of modifying the contents of off-line teaching of a robot used for machining a work, e.g., deburring a work. For a program prepared off line, the condition of modifying the taught position is set in advance. The condition is such that the amount of offset common to taught-point sections specified in relation to worked surface division and to taught points contained in the sections is determined. After starting the reproduction of the program, the modification conditions are selectively effected as required. The taught positions in the designated section are so modified collectively that the robot approaches or moves away from the work surface by a designated distance. For each of the sections, plural conditions of modification of approaching and moving away are prepared, and either the approach or move-away can be selected. By repeating the steps of reproducing the program and modifying the positions, it is possible to determine the actuation of the robot more ideally.