| 摘要 |
<p>The system reads the coordinate position of the additional spindle when that spindle is fed by hand. The coordinates and the attitude of the tool end of the robot are also read. The tool end position is changed until the relative positions and attitudes of the additional spindle and of the tool end are the same. The robot (1) may have a welding torch (3) at its tool end. In this case the torch is position and attitude are changed on the basis of the additional spindles attitude. The additional spindle may belong to a rotary table (5) carrying the workpiece (6). The control system (for the robot (7) and for the additional spindle (8)) keeps the relative positions and attitudes of table andf tool constant.</p> |
