Title:
INDUSTRIAL ROBOT DEVICE
Document Type and Number:
Japanese Patent JPS60108908
Kind Code:
A
Abstract:
PURPOSE:To instruct operation efficiently by allowing a simple teaching arm to execute prescribed operation, storing tis positional information in a control device and forming an operation program of a robot body. CONSTITUTION:The leading end of the simple teaching arm 20 is formed as a handle 20a and the operator grasps the handle 20a part to execute the required operation. The arm 20 and the robot body 1 are connected to a control device 3. The arm 20 is provided with 6 joints for a waist rotating theta1 axis, shoulder rotating theta2 axis, an elbow rotating theta3 axis, a wrist twisting theta4 axis, a wrist bending theta5 axis, a finger rotating theta6 axis to allow the handle 20a to have an optional posture at an optional point in space. The rotational positions of these joints can be detected by a rotational position detector and the positional coordinates of the leading end of the teaching arm are converted into a robot coordinate system to make the robot execute required operation through a servo driving system.
Inventors:
FUJITA SHINJI
YOKOYAMA KUNIHIKO
YOKOYAMA KUNIHIKO
Application Number:
JP21599183A
Publication Date:
June 14, 1985
Filing Date:
November 18, 1983
Export Citation:
Assignee:
TOSHIBA KK
International Classes:
B25J9/22; G05B19/42; G05B19/423; (IPC1-7): B25J9/22; G05B19/42
Attorney, Agent or Firm:
Noriyuki Noriyuki