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Programming method for a robot, programming apparatus for a robot, and robot control system
Programming method for a robot, programming apparatus for a robot, and robot control system
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机译:机器人的编程方法,机器人的编程装置以及机器人控制系统
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摘要
An operator inputs a sensing instruction at a sensing point, which is a rough taught point, in a teaching mode (S22). The instruction and sensing point are stored in a second storage region 23b (S23). Further, a target angle and an advance/retraction angle are both input in the second storage region 23b (S24). A CPU 20 moves a robot to the sensing point (S33) in a sensing mode, to perform detection tasks by a laser sensor, thereby acquiring the shape of a workpiece (S33). The CPU 20 calculates a position and a posture of a welding torch to create a task program (S35). In such a manner, it is possible to greatly simplify teaching tasks in an environment free of workpiece displacements.
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机译:操作者在示教模式下,在作为粗略示教点的感测点输入感测指示(S22)。指令和感测点被存储在第二存储区域23b中(S23)。此外,目标角度和前进/后退角度都输入到第二存储区域23b中(S24)。 CPU 20以感测模式将机器人移动到感测点(S33),以通过激光传感器执行检测任务,从而获取工件的形状(S33)。 CPU 20计算焊炬的位置和姿势以创建任务程序(S35)。以这种方式,可以在没有工件位移的环境下大大简化教学任务。
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