Following and reflection jiyogu of plural robot arms

摘要

The system which executes the method of this invention, possessing the joint motion possible robot arm around the plural 1st axes, has the reader which supports the ended effector. The follower has the joint motion possible robot arm around each one of the plural 2nd axes. As the joint it exercises the reader arm around the 1st axial group, the follower arm the joint it exercises the plural servo-motors, around the 2nd axial group. In order that the arm of the reader jiyogu it makes thing, and the ended effector which it exercises specified position arrive, the user tries user interface, that can accomplish the fact that motion of the arm which is executed automatically is programmed. The controller which action possibly is connected controls the operation of those servo-motors in the plural servo-motors, and user interface following to the motion which is programmed, moves the arm of the reader, in order following or the reflection to do in motion of the reader, moves the arm of the follower.