| 摘要 |
PURPOSE:To resolve the trouble of complication of teaching, by picking up effective signals in communication of signals between a master side and a slave side to generate a program automatically while a master/slave manipulator is operated. CONSTITUTION:Until the program is completed, a changeover switch 4 is set to the (a) side, and the manipulator is operated as a master/slave 10. In this operation, the output of a potentiometer 12 and the output of a torque detector 51 are subjected to a prescribed calculation through an input device 51 by a computer 52, and the position where said outputs are changed greatly is grasped as a change point of switching of work contents, and thus, the program is automatically generated. The result is inputted to a servo amplifier 32 through an output device 53 and a changeover switch 54. An operation panel 55, a television camera 56, and a recognizing device 57 are connected to said input device 51, and the input using them is possible. |
