A method for learning (teaching) of an industrial robot, as well as an appropriately equipped industrial robot

摘要

The invention relates to a method for learning ("teach - in") of sequences of movements of an industrial robot (10) with a standing pedestal (12) and of at least one movable articulated arm (16) which operates according to the following steps:Attachment of a measuring system (22) with measuring head at the free end of the articulated arm (14); attachment of a handling device (28) at the end effector (20) on the with the measuring system (22) associated free end of the articulated arm (14); manual actuation of the handling device (28) by an operator for the purpose of learning of the intended movement sequence of the robot (10); detecting any position of the at the free end of the articulated arm (14) arranged handling device (28) by means of the measuring system (22) with measuring head; transformation of the detected positions in the coordinate data; transmitting the detected coordinate data to a control - and control system; storing the coordinate data transmitted in the control - and control system; evaluation of the coordinate data stored by the control - and control system and storing the evaluated data as the movement program of the robot (10). Furthermore, the invention relates to a correspondingly equipped industrial robot.