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Taeching unit and direct teaching device having the same
Taeching unit and direct teaching device having the same
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机译：教学单元和具有该教学单元的直接教学装置
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摘要
The present invention is prevented from being damaged, and the force sensor, the operator can easily operate the teaching mechanism The structure is directed to an improved apparatus and teaches to direct teaching apparatus having the same. Teaching apparatus according to the invention and the operating program for controlling the movement, one end coupled to the frame portion of the robot having a position controller, the program, which is built to calculate the position according to the movement, is coupled to the frame, is applied from the outside The force and torque measurement for power - and torque sensors, operator phage ( ), and the operator is applied to the external force is the force - the force to be sent to the torque sensor and steering wheel torque coupled to the sensor, sliding with respect to the handle is coupled to the frame to enable, once the contactor is in contact with the surface of the additional processing target object, a contactor and a displacement sensor measuring the displacement of sliding. ;
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