A manual teaching control device for operations in an industrial robots-system

摘要

According to a control teaching device, position and attitude of tool (2n) on tool handling robot (2) can be taught by means of manual operations, being subjected to the movement of position and attitude of workpiece (1m) on workpiece handling robot (1), so that relative position and attitude of tool (2n) against workpiece (1m) can be kept constant. Position and attitude of workpiece handling robot (1) and tool handling robot (2) are computed by use of "actuating signals" of a teaching key means (12) and a "co-acting signal" of a selecting means for sole-action/co-action (9) . Then, joint variables of workpiece handling robot (1) and tool handling robot (2) are calculated. Actuating values for actuators (17W, 17T) of workpiece handling robot (1) and tool handling robot (2) are synchronously outputted after the lapse of time comes into a predetermined infinitesimal time ΔT, therefore, tool (2n) is synchronously co-acted with workpiece (1m).