| 摘要 |
PURPOSE:To obtain an inexpensive copying corrector by inputting the current position of a wrist, the detection coordinate system of sensors and deviation quantity, applying this deviaton quantity as a correction value converted to the movement extent of the basic three axes of a robot to a robot controller and reproducing the taught loci. CONSTITUTION:A wrist 4 is provided between a robot body 5 and a torch 3 by having a certain degree of freedom, and at the copying controlling, the coefft. values Ku, Kv corresponding to the current position of the wrist 4 are read out from memories 11, 12 storing the coefft. values corresponding to the detection coordinate system of the sensors used. The cofft. values Ku, Kv and the deviation quantity D5 of the torch 3 from the sensors ar multiplied in a multiplier 14, and the results thereof are added to a robot controller 6 as the correct value Dc of the basic 3 axes of the robot body 5, whereby the taught loci and reproduced.
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