| 摘要 |
PURPOSE:To prevent a robot from generating partial abrasion due to work applying large load to the robot kept at a fixed posture by controlling the robot so that its different postures are equally divided while keeping a tool at the same posture. CONSTITUTION:A 1st teaching point data teached so that a prescribed working posture is kept on a prescribed working position are stored in a 1st data storing device. A 2nd teaching point data teached so that the position and the posture of a burr removing tool 11 are the same as that of the 1st teaching point data, but the postures of an upper arm 15, a fore arm 16, a wrist 18, etc., of the robot are different from that of the 1st teaching point data are stored in a 2nd data storage device. A working command means distributes working cycles respectively based on the 1st and 2nd teaching point data approximately equally and executes these distributed cycles.
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