| 摘要 |
PURPOSE:To attain ease of teaching of a robot by measuring a point deciding a positive/negative direction of a cross line of three coordinate planes and a position of a touch sensor with respect to a reference coordinate system so as to set a new coordinate system in matching with the object of a job. CONSTITUTION:A position of the touch sensor with respect to the reference coordinate system when the touch sensor at the robot hand tip contacts XY, YZ and ZX planes is measured. That is, since three orthogonal planes are decided by measuring three points of each plane, in total 9 points, and cross lines of the three planes are the X, Y and Z axes. In order to decide the polarity of each coordinate axis, a point giving a positive value to each coordinate is measured. Through the operation above, an orthogonal coordinate system is set optionally in matching with the job object. Thus, the orthogonal coordinate system in matching with the robot operation is selected and teaching is applied based thereupon, then the teaching of a job to the robot is attained easily without unreasonableness. |
