| 摘要 |
PURPOSE:To produce the new control information by supplying the position information and the posture information of an end effector obtained by giving teaching to a basic work to the teaching information and at the same time offering the changed position information for a similar work. CONSTITUTION:The teaching information (basic program) including the position information and posture information (xi, yi, zi, phii, thetai, psii) of an end effector obtained by giving teaching to a basic work is loaded to a memory 6. Then an alteration command is set to decide the alteration mode of the basic program. Thus the position information (xn, yn, zn) corresponding to a step (n), for example that is designated by the alteration command is called out of the memory 6. The alteration value is supplied through a keyboard 11, and an operation is carried out for each axis. The position information is sent back to the memory 6 after the operation. When it is decided that all steps designated by the alteration command are through, the teaching information including the position information and the original posture information and stored in the memory 6 are delivered to a tape 12. |
