JPS6464788A - Attitude teaching method of robot - Google Patents

Attitude teaching method of robot

Info

Publication number
JPS6464788A
JPS6464788A JP22112587A JP22112587A JPS6464788A JP S6464788 A JPS6464788 A JP S6464788A JP 22112587 A JP22112587 A JP 22112587A JP 22112587 A JP22112587 A JP 22112587A JP S6464788 A JPS6464788 A JP S6464788A
Authority
JP
Japan
Prior art keywords
tool
amount
robot
attitude
detected
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP22112587A
Other languages
Japanese (ja)
Other versions
JPH0665453B2 (en
Inventor
Terushi Inoue
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yamaha Corp
Original Assignee
Yamaha Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yamaha Corp filed Critical Yamaha Corp
Priority to JP62221125A priority Critical patent/JPH0665453B2/en
Publication of JPS6464788A publication Critical patent/JPS6464788A/en
Publication of JPH0665453B2 publication Critical patent/JPH0665453B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Landscapes

  • Milling Processes (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE: To teach a robot trajectory in which the contact state of a tool with a work is kept constant by taking the recess amount of a tool as a tool pressing amount, displaying the recess amount on a display device, detecting the optimum attitude according to the display amount, and teaching the attitude of the robot. CONSTITUTION: When lateral and longitudinal force is applied to the tip of a tool 5, the tool 5 and the motor 1 are tilted about the center X of oscillation. At this time, a ball 13 is pushed up against the energizing force of a compression spring 19 along the inclination of a cone-shaped recessed part of a pedestal 11. Whereupon, the travel is detected by a sensor 21. The travel of the ball 13 detected by the sensor 21, that is, the pressing amount (recess amount) of the tool 5 to a work W is displayed by a display device 23. According to the display amount, the optimum attitude is detected to teach the attitude (trajectory) of a robot in which the contact state of the tool 5 to the work W is kept constant.
JP62221125A 1987-09-02 1987-09-02 robot Expired - Lifetime JPH0665453B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP62221125A JPH0665453B2 (en) 1987-09-02 1987-09-02 robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62221125A JPH0665453B2 (en) 1987-09-02 1987-09-02 robot

Publications (2)

Publication Number Publication Date
JPS6464788A true JPS6464788A (en) 1989-03-10
JPH0665453B2 JPH0665453B2 (en) 1994-08-24

Family

ID=16761855

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62221125A Expired - Lifetime JPH0665453B2 (en) 1987-09-02 1987-09-02 robot

Country Status (1)

Country Link
JP (1) JPH0665453B2 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107775625A (en) * 2016-08-25 2018-03-09 财团法人工业技术研究院 Mechanical arm teaching device
JP2022159211A (en) * 2021-03-31 2022-10-17 株式会社アットロボティクス Tool floating mechanism, machining device, and machining device tool floating mechanism
JP2023122148A (en) * 2022-02-22 2023-09-01 カトウ工機株式会社 processing tools

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3465252B2 (en) * 1995-09-14 2003-11-10 株式会社安川電機 Robot direct teaching device
JP3868474B1 (en) * 2006-05-08 2007-01-17 司工機株式会社 Machining tools

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6091406A (en) * 1983-10-26 1985-05-22 Hitachi Metals Ltd Method and device for teaching robot
JPS6091407A (en) * 1983-10-26 1985-05-22 Hitachi Metals Ltd Method and device for teaching robot
JPS61273272A (en) * 1985-05-28 1986-12-03 Kawasaki Heavy Ind Ltd Wrist controlling method in robot for industry

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6091406A (en) * 1983-10-26 1985-05-22 Hitachi Metals Ltd Method and device for teaching robot
JPS6091407A (en) * 1983-10-26 1985-05-22 Hitachi Metals Ltd Method and device for teaching robot
JPS61273272A (en) * 1985-05-28 1986-12-03 Kawasaki Heavy Ind Ltd Wrist controlling method in robot for industry

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107775625A (en) * 2016-08-25 2018-03-09 财团法人工业技术研究院 Mechanical arm teaching device
JP2022159211A (en) * 2021-03-31 2022-10-17 株式会社アットロボティクス Tool floating mechanism, machining device, and machining device tool floating mechanism
JP2023122148A (en) * 2022-02-22 2023-09-01 カトウ工機株式会社 processing tools

Also Published As

Publication number Publication date
JPH0665453B2 (en) 1994-08-24

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