| 摘要 |
PURPOSE:To obtain a reproducible operating locus without requiring any correcting operation by one time of teaching operation, by displaying the effective operating extent of a wrist or end factor in a graphic display and, at the same time, displaying a taught point locus formed by successively stored positions. CONSTITUTION:A graphic display 9 is provided to a control box 9 in addition to a computer provided in its box and various operation buttons, switches, etc., provided at the front panel. When a teacher turns on the power supply switch 8 of the box 1, the effective operating extent of the wrist 10 of a robot 3 is displayed on the display 9 as shown by the line 12 and, when the teacher depresses the various operation buttons 6, motors inside the robot main body 3 are driven and each arm and wrist 10 move in accordance with the instruction. The computer inside the control box 2 reads encoder values of each shaft of the robor main body 3 and calculates the coordinates of the wrist 10 of the robot 3, and then, displays the present coordinates of the wrist 10 on the display 9 in accordance with the calculated coordinates. Moreover, operation of a position storing key 7 and linear interpolation or arc interpolation are performed from the position to be stored and the previously stored position and the locus of taught points up to the present position is displayed. |
