| 摘要 |
<p>The invention relates to a method of controlling the movements of a robot and a workpiece manipulator during the teaching of the robot cell. To achieve synchronized teaching of the robot cell the method comprises driving one cell component, that is, the robot (2) or the workpiece manipulator (1), to a position required by the following point (P3) to be taught, the other component following synchronously the moved one so that the position of the robot tool remains unchanged with respect to the workpiece; driving the other cell component, from the position of the point (P1) taught first to the following point (P3), corresponding to the position of the other component, and storing the coordinates of said point in the memory; and repeating said steps to teach all the required points of the paths to be taught.</p> |
