To make precise teaching operation performable for a work object which is poor in shape variation by specifying a part of a figure as a teaching index on a shape model displayed on a screen and calculating and recording the three-dimensional position corresponding to specified coordinates on the screen on the surface of the shape model as teaching data.
A teaching mark 15a is moved on the screen of a display device 15 by operation an input device 17 to indicates the top of the figure 10 as the teaching index or its periphery and on the basis of the coordinates of the indicated teaching point on the screen of the display device 15, a teaching position arithmetic part 18 calculates the two-dimensional coordinates of the teaching point on a virtual image. Further, the three-dimensional coordinates of the corresponding point on the surface of the shape model 8 which corresponds to the two-dimensional coordinates of the teaching point on the virtual image and is uniquely determined is calculated through reverse conversion. This operation is repeated to generate a series of teaching points on the surface of the shape model 8, where an operation track is described, and they are registered as teaching data in a teaching data recording part 19.
HATTORI MAKOTO
SHIMURA TAKAO
SUGAWARA NOBUHIKO
