| 摘要 |
PCT No. PCT/JP90/01648 Sec. 371 Date Aug. 7, 1991 Sec. 102(e) Date Aug. 7, 1991 PCT Filed Dec. 18, 1990 PCT Pub. No. WO91/08869 PCT Pub. Date Jun. 27, 1991.To perform a simple and rapid preparation of control program, the control device for a robot manipulator for a sheet metal bending installation is provided with a first key for inputting a command signal for actuating a first actuator that is adapted to move a movable element of the metal sheet bending installation through a constant distance or amount, and a second key for inputting a command signal for actuating a second actuator that is adapted to move another movable element of the metal sheet bending installation through a changeable distance or amount. Further, to increase the working speed of the sequence of control signals for the metal sheet bending installation, the control device is provided with a device for detecting a plurality of command signals for subsequently actuating a plurality of actuator and for subsequently moving an element or elements of the installation, and a device for associating the the plurality of command signals to produce an associated single command signal for actuating subsequently the plurality of the second actuator without any stops between the actions thereof.
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