| 摘要 |
PURPOSE:To facilitate instructing operation by allowing hand alignment to be made in any position and at any attitude, and by permitting hand alignment for the operation coordinates system which is a coordinates system to be determined according to the operations. CONSTITUTION:This robot control device is composed of an instruction box 1 equipped with hand alignment command part 2, a robot control device 3, a hand alignment moving amount calculation part 4 to calculate the moving amount of each axis of robot in hand aligning operation, a drive part 5 to give a command of motion to a robot 8 directly, a current position data memory part 6 for storing the current position of hand as a result of driving the robot 8, and a current attitude data storing part 7 for storing the current, attitude of the robot hand as result of robot 8 driving. This further includes an attitude memory part 9 where the attitude data for hand necessary in the instructing operations is stored, an attitude data alteration part 10 by which the data in the attitude memory part 9 is altered, and an attitude memory command part 11 from which an instruction of alteration is given to the attitude data alteration part.
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