Method of teaching a robot

Details Method of teaching a robot Method of teaching a robot

G - Physics

06

F

354/143

G06F 15/46 (1990.01)

Patent

CA 1311061

ABSTRACT OF THE DISCLOSURE An articulated robot such as an arc welding robot includes a plurality of articulations and an end effector having a tool center point. To teach the robot, a coordi- nate transformation matrix for transforming coordinates between the articulations is determined from condition data of the articulations, a present position of the tool center point is calculated based on the coordinate transformation matrix, and a moving vector is determined from the present position of the tool center point to a next position thereof. Thereafter, a new coordinate transformation matrix for transforming coordinates between the articulations is determined so that the posture of the end effector at the next position of the tool center point which is calculated based on the first-mentioned coordinate transformation matrix and the moving vector will coincide with the posture of the end effector at the present position of the tool cen- ter point. Then, new condition data of the articulations are calculated from the new coordinate transformation matrix.

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