| 摘要 |
<p>PURPOSE:To get rid of necessity for controlling the position and attitude of a robot, even if having its additive shaft shifted, and to improve the efficiency of teaching operation by finding the coordinate and position of a tool tip point so that the relative position between the additive shaft and the tool tip point of the robot and its attitude may come to be the same, and shifting the tool tip point to some extent. CONSTITUTION:When a table 5 or the like on an additive shaft is fed by hand, it reads out the coordinate position because this position is within an additive shaft control circuit 8. Then, the position and coordinates of a tool tip point corresponding to this movement are found. This operation is executed by a microprocessor controlling a robot 1. An arm of this robot 1 is positioned toward the position and coordinates of this new tool tip point. With this constitution, a positional relationship between the position of the additive shaft of the table 5 or the like and the tool tip point, and the attitude are kept constant.</p> |
