PURPOSE: To facilitate the teaching when performed work in the same space by a plurality of robots, by detecting a position of robot each axis after ending the teaching, storing the detected axial position at each time, and calling a position/attitude during actual operation of the robot from a stored position data for an arbitrary time, so as to perform repeating.
CONSTITUTION: A robot A is taught, to store a teaching point of an operating route in a teaching data memory part 2. After ending the teaching, the robot is actually operated at a preset play back speed, to store an operating position of each axis of the robot at each time in an operating locus data memory part 5. Next, teaching of a robot B is performed by an amount of teaching point 1 step. An operation of this 1 step amount is reproduced in the robot B, also to actuate also the robot A only for a time taken for the operation of this 1 step, so as to confirm whether interference is provided or not between the robots A, B. The operation is similarly performed in each teaching step.
TAKESHITA TERUO
SUZUKI MOTOYUKI
