CONTROLLING METHOD OF TEACHING AND PREPRODUCTION TYPE ROBOT

摘要

PURPOSE:To perform the work on a correct route, by obtaining the teaching information at a fixed position as well as the position information of a working subject in the teaching mode and then adding the position information of the working subject to the information of the positon shift to the present position and following the route with the corrected data in the reproduction mode respectively. CONSTITUTION:A conveyor is stopped, and an automobile frame is set at a fixed position within a mobile range of a robot. The position information of the frame is detected by a position detector 12 and stored in a memory 30. Then the frame is put at the position where the teaching is given, and the teaching position is detected 19. The data on the teaching position is read out of the memory 30, and the teaching is given again to a defective area. At the same time, the position is detected by a conveyor position detector 33 for the frame which is moved by the conveyor. The shift is calculated by a position operator 34 between the position of the frame and the teaching position. Then the teaching position follows the conveyor position with a compensating operation 35 to perform a reproduction process through which the wrist aritmetic coordinates are obtained.