Robot with light-weight, inertia-free programming device.

摘要

A robot having a low-inertia manually actuated arm that functions as a teaching arm (40) for a symmetrically similar powered operating arm (41) disposed on the robot symmetrical thereto. The teaching arm is provided with compensating devices (50, 103) continuously balancing the combination of the teaching arm end a tool (53) removably mounted thereon so that gravitational forces are continuously compensated. The teaching arm is in a state of continual equilibrium so that the tool thereon can be moved manually accurately and smoothly and substantially inertia-free. The teaching arm accordingly functions as a light-weight highly accurate programmer for the powered operating arm of the robot.