| 摘要 |
PURPOSE:To teach accurately a minute operation by providing a digitized plane, a teaching pen having a digitizer and a light emitting element at both ends respectively, a lens detecting a two-dimension coordinate of the light emitting element and a photodetector. CONSTITUTION:When a teaching personnel picks up a teaching pen 2 and brings the digitizer into press contact onto the digitized plane in matching a desired position/attitude, the two-dimension coordinate of the teaching pen on the digitized plane and the two-dimension coordinates of the light emitting elements 4, 4' lighted sequentially by a scanning circuit 8 and received by a photodetector 6 through a lens 5 are inputted. The attitude of the teaching pen 2 is calculated by the three two-dimension coordinates and the length L of the teaching pen 2. Thus, the operation is taught while a robot arm is disconnected to teach accurately a minute operation. |
