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MOTION CONTROL APPARATUS FOR TEACHING ROBOT POSITION, ROBOT-POSITION TEACHING APPARATUS, MOTION CONTROL METHOD FOR TEACHING ROBOT POSITION, ROBOT-POSITION TEACHING METHOD, AND MOTION CONTROL PROGRAM FOR TEACHING ROBOT-POSITION
MOTION CONTROL APPARATUS FOR TEACHING ROBOT POSITION, ROBOT-POSITION TEACHING APPARATUS, MOTION CONTROL METHOD FOR TEACHING ROBOT POSITION, ROBOT-POSITION TEACHING METHOD, AND MOTION CONTROL PROGRAM FOR TEACHING ROBOT-POSITION
The present invention enables an intuitive operation based on the shooting screen teachings, teachings's burden and to provide a technique capable of promoting the efficiency of the teaching operation to the task. ; to input an operation command for the robot (1) based on a camera coordinate system, based on the recording screen displayed on the monitor operation means (12), a robot (1) from an operating command based on the camera coordinate system input from the operating means 12 generates a motion vector on the camera coordinate system for moving to the next shift position, and the camera coordinate system conversion means for converting a motion vector based on a motion vector on the robot coordinate system (16a) and a motor installed in the joint of the robot 1 from a motion vector based on the robot coordinate system obtained by the converting means (16a) (M ) motor control for controlling the motor (M) provided on the joints of the robot 1 in accordance with the motor instructing value generated by the operation command generating means for generating a command value to the motor (16b) and, an operation command generation means (16b) will be provided with a means (14).
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