TEACHING/CONTROLLING METHOD FOR PLAYBACK TYPE ROBOT

PURPOSE:To make a teaching time short and make actual work possible immediately and improve efficiency by making constitution in which once one starting point alone is designated, operation points are sought one after another by means of operation afterwards, and actual work is carried out along a route connecting the starting point to an operation point. CONSTITUTION:A controller operates a route K01 by conducting the curve interpolation of a starting point P0 that is taught and an operation point P1 is sought by means of operation, and goes on cutting off a work 1 by means of a grinder while moving the finger portion of a robot along the route K01. A movement speed at this time is decided by the thickness (t) of the work 1. Also, at the time of conducting cutting-off by means of the grinder while moving the finger portion, the posture control of the finger portion is conducted so that a laser sensor 2 and the grinder may become perpendicular to the surface of the work 1 at all times. Cutting-off is stopped once when the cutting-off advances to the operation point P1, and an operation point P2 is sought by means of operation by the same method as has sought the operation point P1, and cutting-off executed along a route K12 where the curve interpolation of points P1, P2 has been conducted, and then, cutting-off is carried on by seeking operation points one after another.