초록 ▼

An operation teaching method and apparatus for an industrial robot adapted to be successively moved to and set at different positions along an objective structure to conduct a predetermined operation on working objects of the same configuration on the objective structure to which objects the differe

An operation teaching method and apparatus for an industrial robot adapted to be successively moved to and set at different positions along an objective structure to conduct a predetermined operation on working objects of the same configuration on the objective structure to which objects the different positions correspond, respectively. The data taught at an initial position is corrected through a coordinate transformation between a coordinate system fixed on a working object and a coordinate system assumed on the robot, and the corrected data are reproduced and used as the operation data for the second and the following working positions.

대표청구항 ▼

An operation teaching apparatus for an industrial robot adapted to be successively moved to and set at different positions along an objective structure to conduct a predetermined operation on working objects of the same configuration on said objective structure to which objects said different positi

An operation teaching apparatus for an industrial robot adapted to be successively moved to and set at different positions along an objective structure to conduct a predetermined operation on working objects of the same configuration on said objective structure to which objects said different positions correspond, respectively, said apparatus comprising: memory means for storing the content of a robot operation on the working objects taught to said industrial robot; first computing means for obtaining correlation information between coordinate values of base references assumed on a first working object and coordinate values of comparison references assumed on a second working object, said coordinate values of the base references being stored in said memory means in terms of a first robot coordinate system assumed on said industrial robot set at a first position corresponding to said first working object, said coordinate values of the comparison references being stored in said memory means in terms of a second robot coordinate system assumed on said industrial robot in a second position corresponding to said second working object; and second computing means for conducting, using said correlation information, correcting computation of coordinate values representing the taught operation of the robot and stored in said memory means in terms of said first robot coordinate system to determine coordinate values representing said taught operation in terms of said second robot coordinate system.