| 摘要 |
PURPOSE:To shorten operation and time at the time of teaching by making connection to a robot simulator of a controlling device changeable to the robot body side. CONSTITUTION:The robot simulator 12 has a mechanism of the same ratio or similar mechanism as the mechanism that constitutes the body 6 of the robot and has a detector that can detect the attitude and position of the mechanism. unlike the body 6, the device 12 has no locking mechanism for each link, and can be moved easily when external force acts on it. The content is stored in a memory circuit of the controlling device 1 by depressing a switch 3 for teaching contained in a teaching box 2 attached to the upper part of the device 12. Then, connection between the device 12 and device 1 is cut off, and a cable 9 is connected to a connector 14, and the device 1 is connected to the body 6. Information of operation of peripheral equipment that synchronizes with movement of the body 6 is stored in the memory circuit of the device 1 by an operating switch 5, and then peripheral equipment is operated. |
