JPS6464788A - Attitude teaching method of robot - Google Patents
Attitude teaching method of robotInfo
- Publication number
- JPS6464788A JPS6464788A JP22112587A JP22112587A JPS6464788A JP S6464788 A JPS6464788 A JP S6464788A JP 22112587 A JP22112587 A JP 22112587A JP 22112587 A JP22112587 A JP 22112587A JP S6464788 A JPS6464788 A JP S6464788A
- Authority
- JP
- Japan
- Prior art keywords
- tool
- amount
- robot
- attitude
- detected
- 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
Links
Landscapes
- Milling Processes (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
PURPOSE: To teach a robot trajectory in which the contact state of a tool with a work is kept constant by taking the recess amount of a tool as a tool pressing amount, displaying the recess amount on a display device, detecting the optimum attitude according to the display amount, and teaching the attitude of the robot. CONSTITUTION: When lateral and longitudinal force is applied to the tip of a tool 5, the tool 5 and the motor 1 are tilted about the center X of oscillation. At this time, a ball 13 is pushed up against the energizing force of a compression spring 19 along the inclination of a cone-shaped recessed part of a pedestal 11. Whereupon, the travel is detected by a sensor 21. The travel of the ball 13 detected by the sensor 21, that is, the pressing amount (recess amount) of the tool 5 to a work W is displayed by a display device 23. According to the display amount, the optimum attitude is detected to teach the attitude (trajectory) of a robot in which the contact state of the tool 5 to the work W is kept constant.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62221125A JPH0665453B2 (en) | 1987-09-02 | 1987-09-02 | robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62221125A JPH0665453B2 (en) | 1987-09-02 | 1987-09-02 | robot |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS6464788A true JPS6464788A (en) | 1989-03-10 |
JPH0665453B2 JPH0665453B2 (en) | 1994-08-24 |
Family
ID=16761855
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP62221125A Expired - Lifetime JPH0665453B2 (en) | 1987-09-02 | 1987-09-02 | robot |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0665453B2 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107775625A (en) * | 2016-08-25 | 2018-03-09 | 财团法人工业技术研究院 | Mechanical arm teaching device |
JP7090372B1 (en) * | 2022-02-22 | 2022-06-24 | カトウ工機株式会社 | Machining tool |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3465252B2 (en) * | 1995-09-14 | 2003-11-10 | 株式会社安川電機 | Robot direct teaching device |
JP3868474B1 (en) * | 2006-05-08 | 2007-01-17 | 司工機株式会社 | Machining tools |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6091407A (en) * | 1983-10-26 | 1985-05-22 | Hitachi Metals Ltd | Method and device for teaching robot |
JPS6091406A (en) * | 1983-10-26 | 1985-05-22 | Hitachi Metals Ltd | Method and device for teaching robot |
JPS61273272A (en) * | 1985-05-28 | 1986-12-03 | Kawasaki Heavy Ind Ltd | Wrist controlling method in robot for industry |
-
1987
- 1987-09-02 JP JP62221125A patent/JPH0665453B2/en not_active Expired - Lifetime
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6091407A (en) * | 1983-10-26 | 1985-05-22 | Hitachi Metals Ltd | Method and device for teaching robot |
JPS6091406A (en) * | 1983-10-26 | 1985-05-22 | Hitachi Metals Ltd | Method and device for teaching robot |
JPS61273272A (en) * | 1985-05-28 | 1986-12-03 | Kawasaki Heavy Ind Ltd | Wrist controlling method in robot for industry |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107775625A (en) * | 2016-08-25 | 2018-03-09 | 财团法人工业技术研究院 | Mechanical arm teaching device |
JP7090372B1 (en) * | 2022-02-22 | 2022-06-24 | カトウ工機株式会社 | Machining tool |
Also Published As
Publication number | Publication date |
---|---|
JPH0665453B2 (en) | 1994-08-24 |
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