Articulated robot with three different teaching modes

摘要

In the articulated robot (10), types of teaching a moving track of the robot (10) can be optionally selected. The articulated robot (10) comprises: means (77) for manually selecting a moving axis to move an arm section (32) along the axis; a manual pulse generator (84) generating pulses; first control means (70) for controlling actuating means (40, 43, 47) to move the arm section (32) a prescribed distance, which corresponds to number of pulses; an operating board (77) including a selecting switch, which is used to move the arm section (32) along the axis; second control means (70) for automatically controlling the actuating means (40, 43, 47) while the selecting switch is turned on; third control means (70) for stopping the actuating means (40, 43, 47) to freely move the arm section (32) while the arm section (32) is manually moved; and a switch (79) for selecting a type of teaching action.