PURPOSE: To perform the teaching with light force and yet at slower speed by linking the speed reducer at the output side of a robot with each encoder via the speed reducer for model and by arranging the arithmetic unit for the speed of a driving source as well.
CONSTITUTION: The welding zone of a work W is fed into the rolls 1021, 1022 for teaching simultaneously with their rotations at the lower speed than that of the robot actual working time by holding the work W by a robot model 9. The positional signal transmitted from the encoder 1201W1204 of each axis is sampled on each sampling period of a sampling period transmitter 123 and stored in a memory 127. The sampled positional data are made the control data of the robot by performing various operations and by calculating each arm speed at the robot actual working time. The teaching at slower speed is thus enabled.
MATSUMOTO YOSHIMICHI
KATSUYAMA MASAAKI
