OPERATION TEACHING METHOD AND APPARATUS FOR INDUSTRIAL ROBOT

摘要

The robot is to be objectively moved and set at different positions along an object structure to perform a predetermined operation on working objects of the same configuration on the structure to which objects the different positions correspond thereto respectively. The data taught at an initial position is corrected through a coordinate transformation between a coordinate system fixed on a working object and that assumed on the robot. The corrected data are reproduced and used as the operation data for the second and the following working positions. The coordinate values represent the locus of the robot operation in terms of one coordinate system to determine values for others.