| 摘要 |
PURPOSE:To attain the correction of a robot teaching data through comparison with pictures obtained by an industrial TV camera, by giving the off-line teaching to a robot based on the CAD data on the robot and the CAD data on a work and then producing pictures from these CAD data. CONSTITUTION:A simulator 2 produces the 3-dimensional pictures from CAD data 1 on a robot and a work and then produces the off-line teaching data based on those pictures. Then the data performed an off-line teaching action is displayed on a CRT for the benefit of an operator. If the operator approves the data, it is defined as the off-line teaching data 3. Then the picture data equal to those viewed through an industrial TV camera 6 are produced from the data 3 and 1. These picture data are stored in a memory in the form of picture data 4. This data 4 is compared with the pictures obtained through the camera 6 through a comparator 5. Thus the correction data is given to a robot controller 11. The controller 11 actuates a robot 12 continuously until the correction value given from the comparator 5 gets into an error range.
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