| 摘要 |
PURPOSE:To obtain an industrial robot which can facilitate an easy manual remote control of the relative position to a work by setting a fixed direct- traveling control axis to an end effector and giving a manual remote control to the end effector along said control axis. CONSTITUTION:An operator operates a switch SM to set a manual mode and then operates a switch SW to set a working point P existing before a torch 2 at P1 to fix the positions phi and THETA of a robot. The distance between the torch 2 and a work WK is controlled with operation of the switch SW. A computer 5 calculates the increased value of an X system control axis to control the position of the torch 2 toward an axis T. Then the switch SM is set in an automatic mode after controlling the torch 2 at a position P2 and setting various conditions including the speed, etc. Then the step contents of a user program are successively. |
