PURPOSE: To easily and accurately confirm the relative positional relationship between a tool tip control point and a work on a screen, so as to prevent collision of the work with the tool in the regenerative operation by overlapping and displaying the actual position of the robot tool in regeneration and the shape of the work on the same screen.
CONSTITUTION: When a work 7 such as an automobile body is conveyed by a belt conveyor 6 and reaches the arranging position of a manipulator 3 in the production line, the positional relationship between the position in which the work 7 is to be placed and the installation position of a robot is input by a key input unit 2a. The shape of the work 7 is formed by a personal computer 2, and the position of a work tool provided on the tip of the manipulator 3 is found by the rotational angle in working of respective axes of the robot operated by the regenerative operation. The work shape formed on the basis of the positional relationship is converted into the reference position, and the tracks of the formed work shape and the position of the work tool in operating are overlapped and displayed on a display unit 2e.
TAKAGI NOBORU
YOMODA MASAHIKO
ISHIGURO YASUO
OISHI SHOGO
TOYOTA MOTOR CORP