| 摘要 |
PURPOSE:To apply a command for turning a torch in the direction coinciding with the operator's sensation and to improve the efficiency of a teaching operation by operating the turning switches provided to a teaching panel. CONSTITUTION:The operator guides a weld point to a weld line by operating turning command switches 12x, 12y, 12z, 12alpha, 12beta and pushes a teaching switch, then Xp, Yp, Zp, l, m, n are stored in a storage device RAM. When a command switch 12alpha for horizontal turning and a command switch 12beta for vertical turning are operated, the signal goes to an input interface circuit I1 from which the signal is transmitted to a CPU. The CPU calculates directional cosines l, m, n, calculates angles theta1-theta5 of respective joints and drives motors M1-M5 until the angles coincide with the respective target values. The positional coordinates and the directional cosines are stored as teaching data in the storage device. When all the teaching operations are completed, the operator pushes a start button for reproduction. The teaching data is then fetched out of the storage device and the positional coordinates and directional cosines are calculated. The robot is positioned by the same method as in the stage of teaching. |
