To provide an off-line teaching system capable of outputting a program for cooperatively operating a traveling shaft, a rotary positioner and a working tool in accordance with the working data by using a working robot cell comprising the traveling shaft for moving a robot arm in the axial direction of a workpiece, and the rotary positioner for rotating the workpiece.
This off-line teaching system comprises a data inputting part 41, a traveling shaft operating data producing part 42, a rotating mechanism operation data producing part 43, a robot arm operation data producing part 44 and an operation program producing part 45, the inputted working data of the workpiece is allocated, an angle of the rotation for upwardly moving a working position of the workpiece is calculated, a moving amount of the traveling shaft in accordance with the working position is calculated, and a manipulated variable for indicating the position and the attitude of the working tool is calculated, to output the operation program for determining the control of the rotating mechanism, the traveling shaft and the robot arm to execute the aimed working, by integrating the calculated angle of rotation, the calculated moving amount and the calculated manipulated variable.
KOBAYASHI MASAMI
KOIKE MASASHI
AKAMATSU MASAHIKO
