METHOD FOR STORING ROBOT TEACHING POINT

PURPOSE:To ignore the selection of types of robots and also to attain a compact design of a device by obtaining contrary both the rotation and the parallel shift operating value from the position and posture of a robot at a teaching point and using six variables to show the operating values of both the rotation and the parallel shift and to store them as the data showing the position of the teaching point. CONSTITUTION:A hand coordinate system P-XhYhZh fixed to a hand 2 is rotated by phi round a certain rotary shaft E in a state where the coincidence is secured between said system P-XhYhZh and a coordinate system O-XYZ fixed to a robot. Thus the original point P of the system P-XhYhZh is shifted to a position P0 from O. Ten the system XhYhZh is shifted in parallel by (l) along the shaft E to be coincident with the coordinate systems P-Xh, Yh and Zh of the teaching points set by the hand coordinate system. Thus the position and the posture of the robot are shown at a teaching point by fixing the operating values of the rotation and the parallel shift of the coordinate systems. These two operating values are expressed in six variables and therefore stored as the position data on the teaching point.