JPS61199108A - Method and device for robot teaching - Google Patents

Method and device for robot teaching

Info

Publication number
JPS61199108A
JPS61199108A JP4161885A JP4161885A JPS61199108A JP S61199108 A JPS61199108 A JP S61199108A JP 4161885 A JP4161885 A JP 4161885A JP 4161885 A JP4161885 A JP 4161885A JP S61199108 A JPS61199108 A JP S61199108A
Authority
JP
Japan
Prior art keywords
working
point
attitude
plane
tool
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP4161885A
Other languages
Japanese (ja)
Inventor
Katsuhiko Shimizu
Original Assignee
Kobe Steel Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kobe Steel Ltd filed Critical Kobe Steel Ltd
Priority to JP4161885A priority Critical patent/JPS61199108A/en
Publication of JPS61199108A publication Critical patent/JPS61199108A/en
Granted legal-status Critical Current

Links

Abstract

PURPOSE: To teach easily the position, the attitude, etc. of a working tool by calculating a plane including two working points on a working line and an auxiliary point near the working line and obtaining the attitude of the working tool and the position of its wrist part on a basis of the direction of this plane and teaching them.
CONSTITUTION: In a robot teaching device 1, drawing information is displayed on a CRT display device 4. An operator uses a mouse 6 to input the first working point A (start point) on the working line while watching the picture on the display device 4 and inputs the second working point B (end point) to display it. When drawing information desirable for input of the auxiliary point near the working line is displayed, the operator selects and inputs a right auxiliary point R or a left auxiliary point L in the right or the left when viewing an automobile body from a working tool 10. A computer 2 calculates a plane including points A, B, and R of L, and calculates the attitude of the tool 10 on a basis of the direction of this plane and calculates the position of the wrist part on a basis of this attitude. Thus, teaching is performed.
COPYRIGHT: (C)1986,JPO&Japio
JP4161885A 1985-03-01 1985-03-01 Method and device for robot teaching Granted JPS61199108A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP4161885A JPS61199108A (en) 1985-03-01 1985-03-01 Method and device for robot teaching

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP4161885A JPS61199108A (en) 1985-03-01 1985-03-01 Method and device for robot teaching

Publications (1)

Publication Number Publication Date
JPS61199108A true JPS61199108A (en) 1986-09-03

Family

ID=12613324

Family Applications (1)

Application Number Title Priority Date Filing Date
JP4161885A Granted JPS61199108A (en) 1985-03-01 1985-03-01 Method and device for robot teaching

Country Status (1)

Country Link
JP (1) JPS61199108A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63271506A (en) * 1987-04-28 1988-11-09 Honda Motor Co Ltd Coordinate converting method for robot
US4987527A (en) * 1987-10-26 1991-01-22 Hitachi, Ltd. Perspective display device for displaying and manipulating 2-D or 3-D cursor, 3-D object and associated mark position
JPH07132475A (en) * 1993-11-09 1995-05-23 Matsushita Electric Ind Co Ltd Robot position teaching device

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5952304A (en) * 1982-09-17 1984-03-26 Nissan Motor Co Ltd Preparation of teaching data for welding robot
JPS59205610A (en) * 1983-05-06 1984-11-21 Amada Co Ltd Robot teaching method using trigonometric equifigure
JPS59216210A (en) * 1983-05-25 1984-12-06 Hitachi Ltd Robot operation teaching method

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5952304A (en) * 1982-09-17 1984-03-26 Nissan Motor Co Ltd Preparation of teaching data for welding robot
JPS59205610A (en) * 1983-05-06 1984-11-21 Amada Co Ltd Robot teaching method using trigonometric equifigure
JPS59216210A (en) * 1983-05-25 1984-12-06 Hitachi Ltd Robot operation teaching method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63271506A (en) * 1987-04-28 1988-11-09 Honda Motor Co Ltd Coordinate converting method for robot
US4987527A (en) * 1987-10-26 1991-01-22 Hitachi, Ltd. Perspective display device for displaying and manipulating 2-D or 3-D cursor, 3-D object and associated mark position
JPH07132475A (en) * 1993-11-09 1995-05-23 Matsushita Electric Ind Co Ltd Robot position teaching device

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