Antonelli, Terry & Wands
Method and apparatus of robot teaching
 A method for teaching an operation of a robot to the robot and its apparatus are disclosed in which a force sensor capable of sensing three-directional force components and three-directional moment components at the maximum is provided at the wrist of the robot. An operator for teaching the robot applies the force or the moment to the force sensor. The data representing the force or the moment is taken out from the sensor to drive the robot in the force or moment direction and the robot drive data thus collected are loaded into a memory device of the robot control unit. A plurality of directional parameters representing a position of the front end of the arm of the robot and a plurality of directional parameters representing a posture of the wrist define a state of the robot. Therefore, a plurality of directional components of force obtained from the force sensor are made correspond to the parameters representing the robot position and a plurality of directional parameters of the moment are made correspond to the parameters representing a posture of the wrist. 
Hitachi, Ltd.
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G05B G05B G05B B25J B25J B25J B25J
inventional additional additional inventional inventional inventional inventional
Hiroshi Koichi
Kikuchi Sugimoto