초록 ▼

A teaching-playback type robot is disclosed having a manipulator with a plurality of movable members connected to each other, a detector detecting the relative positions of the members, a switch for designating position signals from the detector upon a teaching operation, a memory for storing positi

A teaching-playback type robot is disclosed having a manipulator with a plurality of movable members connected to each other, a detector detecting the relative positions of the members, a switch for designating position signals from the detector upon a teaching operation, a memory for storing position signals from the detector, an interpolating arithmetic circuit for performing interpolating operation based on two position signals read out from memory upon playback operation.

대표청구항 ▼

A robot, comprising: a manipulator having a plurality of movable members, each member connected to its adjacent member with a joint; means for detecting the relative positions of adjacent movable members with respect to each other at each of the joints; means for generating positional signals from t

A robot, comprising: a manipulator having a plurality of movable members, each member connected to its adjacent member with a joint; means for detecting the relative positions of adjacent movable members with respect to each other at each of the joints; means for generating positional signals from the detecting means upon teaching operations; memory means for successively storing positional data produced from said positional signals; means for determining the number of interpolative positions between two of said positions based on two stored positional data entries which are read out from said memory means and for interpolating said determined number of positions between said successive two positions; and means for positioning each of the movable members of the manipulator referring to resulting values of the determining means and interpolating means as command values and based on the the positional signals from the detecting means as present values.