TEACHING DEVICE FOR ROBOT

PURPOSE:To prevent teaching points from being ill-balancedly arranged and to obtain a clear finishing face in the case of applying this robot teaching device to grinding or deburring work by forming an optimum teaching point corresponding to the shape of a work piece by plural teaching points formin...

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Bibliographische Detailangaben
Hauptverfasser:	SHIMAZU KOKI, UEHARA HARUKI, KAWASE SHINOBU, INANO SEIJI
Format:	Patent
Sprache:	eng
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOTDIRECTED TO A PARTICULAR RESULT CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g.ARRANGEMENTS FOR COPYING OR CONTROLLING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS HAND TOOLS MACHINE TOOLS MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OFPARTICULAR DETAILS OR COMPONENTS MANIPULATORS METAL-WORKING NOT OTHERWISE PROVIDED FOR MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS REGULATING TRANSPORTING
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Beschreibung
Zusammenfassung:	PURPOSE:To prevent teaching points from being ill-balancedly arranged and to obtain a clear finishing face in the case of applying this robot teaching device to grinding or deburring work by forming an optimum teaching point corresponding to the shape of a work piece by plural teaching points forming method. CONSTITUTION:A computer 1 corresponds to a teaching device for a robot 3 and forms various data for controlling the robot 3. A robot control device 2 controls the robot 3 based upon various data formed by the computer 1. In this case, the various data are supplied to the device 2 by serial transfer through a communication line. The robot 3 is constituted of an arm 3a and a wrist 3b and each of the arm 3a and the wrist 3b has six degree of freedom summing two three-degree of freedom. Six different kinds of teaching point determining methods are prepared so as to obtain an optimum working route in accordance with the shape of a working area of a work 5. The 6-axis positions (posture) of the robot 3 are determined on respective teaching point.