Control system for teaching position and pose to a hand of a robot.

摘要

In a control system for a robot, a teaching box (1) is provided with a hand alignment command section (2), and a control unit (3) for the robot is provided. A hand-alignment movement-amount computing section (4) computes an amount of movement of each axis of the robot in hand alignment operation. A drive section (5) commands operation directly to the robot (8). A present-position data memory section (6) stores therein a present position of a hand, which is resulted from driving of the robot (8). A present-pose data memory section (7) stores therein the present pose of the hand of the robot (8) , which is resulted from driving of the robot (8). A pose memory section (9) stores therein pose data of the hand, required for the teaching operation. A pose-data modifying section (10) modifies the data of the pose memory section (9). A pose memory command section (11) instructs modification to the pose-data modifying section (10).