| 摘要 |
PURPOSE:To speed up processing and to improve operation efficiency by providing a means which trace back a robot operating program from the up-to-date operation to the past operation. CONSTITUTION:A teaching operator performs operation over a look at the condition of a robot manipulator 2 from a teaching box 1. When the teaching operator makes an error in teaching, or converts operation after teaching, sends a return command from the teaching box 1. An execution interpreter 4 interrupts the operation carried out so far in response to return interruption information 11 and traces back the stored operation from the up-to-date operation to the past operation. The teaching operator looks at the continuous reproduction of the reverse operation of the robot manipulator 2 to complete the reproduction at an objective position of the reproduction and then inputs a reverse reproduction stop command from the teaching box 11. Consequently, the execution interpreter 4 stops the reproduction of the reverse operation. Then, teaching operation is performed. |
