초록 ▼

When a robot language is to be displayed and edited, a teaching apparatus or a programming pendant heretofore displays intermediate code of the robot language as expressed by characters. The operator cannot intuitively recognize motions of the robot, needs time to master the robot language, and is r

When a robot language is to be displayed and edited, a teaching apparatus or a programming pendant heretofore displays intermediate code of the robot language as expressed by characters. The operator cannot intuitively recognize motions of the robot, needs time to master the robot language, and is required to actually move the robot to confirm the correctness of the program after the robot has been taught. According to the present invention, a robot language processing apparatus includes a display device for graphically displaying a picture and designating a position in the displayed picture with a pointing device, a memory for storing a robot program, a graphical language processor for displaying an operation interval and an air-cut interval as successive lines on the display device by referring to the robot program, and controlling the display device to display the type of an operation detail at either one of the lines when the either one of the displayed lines is designated by the pointing device. The robot language processing apparatus is capable of teaching based on a graphical user interface.

대표청구항 ▼

[ We claim:] [19.] A programming pendant for teaching an industrial robot having at least three degrees of freedom, comprising:display means for graphically displaying a picture and capable of designating a position in the displayed picture with pointing means;storage means for storing an operating

[ We claim:] [19.] A programming pendant for teaching an industrial robot having at least three degrees of freedom, comprising:display means for graphically displaying a picture and capable of designating a position in the displayed picture with pointing means;storage means for storing an operating program which contains target positional data for the robot described as motion commands;a database storing operating conditions; andlanguage processing means for three-dimensionally graphically displaying a taught path on said display means, displaying a group of icons representing physical operating conditions when a straight line or a curved line interconnecting two arbitrary motion commands in the displayed path is designated by said pointing means, searching said database to read a group of operating conditions therefrom based on a first group of physical operating conditions determined on the basis of a position and an icon which are designated by said pointing means, and a second group of physical operating conditions determined in advance with respect to a system which includes the robot, converting the resulting group of operating conditions into an operating command for the robot, and automatically incorporating the operating command into the designated position in said operating program.