Robot control method
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United States of America Patent
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Jun 22, 1993
Grant Date -
N/A
app pub date -
Apr 15, 1991
filing date -
Aug 29, 1989
priority date (Note) -
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Abstract
In a method for changing the relative orientation between a workpiece held or clamped by a robot and an arbitrary working point, without changing a determined position, the working point is defined in a reference coordinate system of the robot. In a teaching operation, the workpiece is held or clamped by the robot with respect to the working point. The workpiece is then rotated about the working point so that the workpiece can assume a desired relative orientation with respect to the working point.
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