METHOD OF TEACHING ROBOT.

摘要

A motion program of a robot is easily changed using a work body, instead of using a master body. The motion program of the robot is corrected by correction data obtained by cameras (2, 3, 4). When a point (Q) of the motion program is to be changed to another point (Qn), a point (Qa) on a work body (22) is changed to a change point (Qan). In a robot control system, this change point is read out as respective coordinate values and converted into space coordinate values. Further, these space coordinate values are acted on by inverse correction data to be converted into reference space coordinate values on masterbody (21). These reference coordinate values are inversely converted into reference coordinate values of respective axes. Since the motion program is instructed by the reference coordinate values of the respective axes, the point (Q) of the motion program is changed to the other point (Qn) by use of the reference coordinate values of the respective axes. By this operation, the motion program can be easily changed without using the master body (21).