| 摘要 |
A teaching apparatus is used with at least one manipulator arm capable of carrying out a plurality of distinct motions for carrying and positioning a work tool for performing a work function. The apparatus comprises a power unit including actuators for powering the respective motions of the manipulator arm, a control unit coupled through a first data line to the actuators for controlling the mechanical actuators, and a teach pendant connected through a second data line to the control unit and through a third data line to the mechanical actuators. The teach pendant is used to produce a motion command on the second and third data lines, the motion command having digit information specifying a selected one of the distinct motions of the manipulator arm and a teach command on the second data line. The power unit responds to the motion command fed thereto through the third data line from the teach pendant by selecting one of the actuators to power the selected motion of the manipulator arm. A value of displacement of the selected actuator is measured. The control unit stores the measured displacement value in response to the teach command fed thereto from the teach pendant.
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