| 摘要 |
<p>For controlling a work process carried out by means of a robot (RB), instructions are stored both relating to the positioning of the robot and relating to the very process to be accomplished. The process instructions are stored in the form of process stage instructions (SPS, SPM and SPE) comprising (a) process start stage, during which the process is initiated (the arc is struck, for instance, when arc welding is involved) and the relative movement between object and robot can be started; (b) process main stage, during which the actual process is carried out; and, at least when the process is not directly followed by a further process; (c) process terminal stage, during which the process is terminated (the arc is broken, for instance, when arc welding is involved) and the relative movement between object and robot can be stopped. A control system for a robot includes memory (PM) for robot instructions, including data for specific process parameters, operating means (OP) for storing robot instructions and means (CU, SS, WC) for automatically carrying out the process controlled by the instructions. The operating means have a control lever (34) with motion in at least two dimensions for controlling said specific parameter data, particularly during execution of a process main stage.</p> |
