| 摘要 |
<p>PURPOSE:To consider a turn table as one of the operation shafts of a robot so as to teach operation data by controlling the turn table and the robot in common in a robot teach/reproduction system. CONSTITUTION:The robot teach/reproduction system has the turn table T which mounts a work W and rotates, the robot R executing painting work on the work W and a common controller U controlling the table and the robot. The arm Ra of the robot R is retractable as against the work W in the direction of before and behind, and it is moved back and forth in accordance with the form of the work. The controller U considers the turn table T as one of the operation shaft of the robot R so as to teach operation data for controlling the turn table and the robot R. Thus, the operability of a whole system can be improved and work can be executed even in the table is in the middle of rotation.</p> |
