ROBOT OPERATION TEACHING DEVICE

摘要

PURPOSE:To shorten the time of work teaching by measuring information which are required when robot arms are allowed to imitate an actual work by a person and analyzing and converting time series data of these information to obtain loca of respective joints of plural robot arms. CONSTITUTION:Information of motions of arms, fingers, etc. of the person and motion of a work object which are obtained by cameras 91-92 are applied to a visual input device 6. The magnitude of the force applied to the work object which is obtained by force sensors 81-83 is applied to a force input device 7. These devices 6 and 7 subject said inputted signals to A/D conversion by a synchronizing pulse given from an input controller 5 and transfer results to a locus converting device 1. The locus converting device 1 edits and analyzes this transferred time series data to obtain extents of movement of respective axial joint angles of robot arms 41 and 42 (robot locus data), and they are stored in a memory 2. A robot controller 3 regards data stored in this memory 2 as a target value to control arms.