Method of teaching an operation program to a line robot wherein a master robot positioned at a location remote from said line robot is first taught the program

摘要

An off-line teaching method for an industrial robot wherein a master robot, separate from a line robot, placed in an actual operation line, and a model work similar to the line work processed in the operation line are prepared. Four predetermined points which are not in the same plane are obtained on each of the works, and are taught to the line and master robots in the same order to obtain a reciprocal transformation matrix. The transformation matrix is used to automatically transform an operation program taught to the master robot into an operation program for the line robot.