| 摘要 |
PURPOSE:To convert easily a coordinate system by providing a means for defining one plane orthogonal coordinate by two points or three points of a robot work space, and a means for converting an operating position to an operating position of a robot arm. CONSTITUTION:When two robot systems of the same specifications have been manufactured, coordinates occupied by a base serving as a material to be assembled, placed on a horizontal plane are difference from each other, due to difficulty for manufacture, and become an XY coordinate system and an X'Y' coordinate system. A base 100 has a coordinate reference (x), (y) by itself, and points to be worked P1, P2 and P3 on the base have orthogonal coordinates P1=(x1, y1), P2=(x2, y2), P3=(x3, y3) with respect to the coordinate reference (x), (y) of the base 100. When positioning a robot arm at the work points P1, P2 and P3 on the base, an operating coordinate point of the robot arm may be derived by converting its coordinate. A coordinate of the work point which has been taught can be stored as a coordinate in the base coordinate system, and can be converted to a work point of the second orthogonal coordinate system by storing one point for constituting an (x) axis with an original point. |
