| 摘要 |
PURPOSE:To perform the teaching work quickly and safely with a small manpower, by storing position attitude information, which is corrected with the deviation between space coordinates of a mechanism part and a robot, and non- position attitude information, which is attained by relating timing to position attitude information, in the robot. CONSTITUTION:Position attitude information outputted from rotary encoders 23a-23g and non-position attitude information from a non-position attitude switch 25 are all stored in an internal storage device 30. This position attitude information is subjected to required correction with the deviation between space coordinates of the mechanism part and a robot 32 and etc. through a terminal 27, an input/output controller 28, and a CPU29. Position attitude information after this processing and non-position attitude information attained by relating timing to this information are transferred to a storage device 32c of the robot 32 from the device 30 through the CPU29 and the device 28. Thus, the robot 32 is taught without operating a robot body 32a actually. |
