Abstract: A positioning substrate is used for performing a teaching operation on a transfer mechanism for transferring a target substrate in a semiconductor processing system. The positioning substrate includes a substrate body made of a material selected from the group consisting of the same material as the target substrate, semiconductor, compound semiconductor, and ceramic. The substrate body has an outer contour sized to be handled by the transfer mechanism as an alternative to the target substrate. The positioning substrate also includes a positioning assistant having a combination of a positioning hole and a positioning reference line formed in the substrate body. The positioning hole is formed to penetrate the substrate body in a thickness direction. The positioning reference line is formed on a surface of the substrate body to extend across an opening of the positioning hole and have a predetermined width.

Abstract: A palletizer system is described for transferring a object that are conveyed along a conveyor to a rack, the object having a surface, the palletizer system comprising a camera, a robot transfer subsystem and a control module. The camera is configured to generate images of the object as it is being conveyed along the conveyor. The robot transfer subsystem comprises a gripper module mounted on a robot, the robot being configured to move the gripper module, and the gripper module being configured to controllably grip the surface.

Abstract: It is constructed so as to detect a joint movement position of a robot arm by a position detector and a joint movement speed is calculated from change amounts of the joint movement position and elapsed time and is compared with an allowable movement speed and unlocking and locking of a brake are controlled so that the joint movement speed of an arm at the time of brake unlocking becomes within a constant value even when a shape, an attitude and a load condition of the robot arm vary. Therefore, movement work of the arm by the brake unlocking can be performed alone and a robot with high safety can be obtained.

Abstract: An intelligent assist system having a modular architecture, coordinated by electronic communication links between the modules is provided. A multi-function hub for use in the assist system includes a physical interface for providing mechanical support within the assist system. The hub can implement controlled functions. Furthermore, the hub can include an input/output (“I/O”) interface for communication to computational nodes.

Abstract: A method and system for controlling an industrial controller based on technology objects are disclosed. Technology object types may be loaded and instantiated into the run time system of a controller, thereby increasing the functionality and providing technological scaling of the controller. Technology object types may be loaded in the form of technology packages and a user may use the functionality of the invention directly in a user program.

Abstract: A robot controller executes an operating program, calculates a position and posture of a robot, and sends the position and posture information to a personal computer (PC). At the PC side, on the basis of this position and posture information, animation display information of a work cell including the position and posture of the robot is created and then sent to a teaching pendant. In the teaching pendant, the animation display information is received, and an animation image is displayed on a display section. Until the operating program is terminated, this operation is performed so that an operating animation of the robot is displayed on the display section of the teaching pendant.

Abstract: A process for programming an automation application program on an automation equipment programming station, including defining several structured type objects each representing an input-output channel of automation equipment, declaring symbolic input-output variables of the program as an instance of a previously defined structured type object, a configuring symbolic input-output variables comprising a definition of the physical location of inputs-outputs of the automation equipment, automatically interpreting the program to execute it on the automation equipment, comprising replacing symbolic variables in the program with the complete topological address of corresponding input-output information.

Abstract: A method for programming of a robot application comprising an industrial robot having a robot coordinate system, a tool having a tool coordinate system and a work object (3) to be processed by the tool. The application is programmed by means of a position-measuring unit (15) adapted for measuring positions relative a measuring coordinate system (db). The programming method comprises: selecting an object reference structure (25) on the object, defining a mathematical model for the object reference structure, defining an object coordinate system (o2), providing measurements by the position-measuring unit on the surface of the object reference structure, determining the object coordinate system in relation to the measuring coordinate system (db) by best fit between said measurements and said mathematical model of the object reference structure.

Abstract: An intelligent assist system having a modular architecture, coordinated by electronic communication links between the modules. Modules for motion, computation, interface, and programming are disclosed in exemplary embodiments.

Abstract: A method, apparatus, and computer program product are presented for directing the movement of an agent in an environment. The operations of the invention comprise determining at least a first zone and direction to objects in at least a portion of the environment around the agent. A determination is also made regarding whether the agent is surrounded by objects. If the agent is surrounded by objects, it stays in the same position, and if it is not surrounded, a determination is made regarding whether the closest object is beyond the first zone from the agent. If the closest object is beyond the first zone, the agent may be moved toward a portion of the environment having the greatest object-saturation, and if the closest object is within the first zone, the agent can be moved toward a portion of the environment having the least object-saturation. Other zones may be provided.

Abstract: A method and system for controlling an intelligent assist device, robot, or other powered system that is partially or fully directed by the intent of a human operator. The method and system includes measuring a force or motion imparted by the human operator to a control. The measurement is determined with respect to the motion of the machine at a point of the machine that allows the benefit of collocation of sensing and actuation, or of approximation of such collocation. The system includes a support attached to the machine at the beneficial point, and a plurality of sensors to measure the force, torque, or motion imparted by the human operator to the support with respect to the beneficial point. The method and system provide improved stability of control of the system, and improved responsiveness to the intent of the human operator.

Abstract: A programming apparatus having an arrangement for formulating an automating task to be performed in the form of a programming language for automating apparatuses is described, which simplifies a process error analysis for an analysis unit. For this purpose, the programming apparatus is provided with an arrangement that store operands (9; 27), marked to be monitored, in the order in which they appear in the network in a logic list. Furthermore, the programming apparatus has an arrangement that store the operands of this network in an operand list in the order in which they appear in the network. The lists can be transferred into the analysis unit for analysis.

Abstract: A tele-medicine system that includes an input device which can control a medical system. The input device may be the handle of a surgeon console. The medical system may include a robotically controlled medical device. A transmitter may transmit information relating to each state of the input device over a communication network. The medical system receives the transmitted state information through a receiver. The medical system changes state in response to the received state information from the input device. The system sends information relating to an entire state of the input device over a sample period to insure that the medical system receives all commands, data, etc. necessary to operate the system.

Abstract: An apparatus system is provided with at least one robot and with a control unit accommodated in a control cabinet. To improve the integration of robot and technology control units and to utilize synergistic effects, at least one additional, independent electronic system different from the control unit for the robot is provided accommodated in the control cabinet.

Abstract: An alignment apparatus which obtains an amount of correction for centering a semiconductor wafer from four points of a wafer edge detected by noncontact proprioceptors in a wafer delivery position P1 where the semiconductor wafer is passed to a wafer carrying unit from a wafer carrying robot and centers the semiconductor wafer.

Abstract: When a position deviation of teaching point of a robot manipulator is detected during continuous operation of a robot system, device for correcting the teaching point without stopping continuous operation of the robot system is provided, thereby presenting device for operating the robot system efficiently without having effects on productivity of the production line. Having a changeover unit for changing over modes by selecting from an input mode for entering teaching points, an operation mode for operating according to the teaching points, and an in-process correction mode for correcting the teaching points stored in the storage unit according to the data from the input unit during operation of the robot manipulator, the mode is changed over to the in process correction mode by the changeover unit, the data for correcting the teaching point is entered from the input unit, and the control unit corrects and processes according to the entered data.

Abstract: A method of teaching a robot off-line having a traveling axis, by which the final position and final posture are determined when a robot having a traveling axis stops at an arbitrary position on a traveling axis. The method is able to take an arbitrary posture at the arbitrary position, change from the arbitrary position and arbitrary posture, and move a control point of the robot until it agrees with a movement target point. This position on the traveling axis of the robot is determined so as to minimize the distance between a coordinate origin of the robot a movement target point.

Abstract: The invention is a method for positioning a conveying mechanism having a holding portion for semiconductor wafers. Respective provisional position coordinates of an orienting teaching standard position and a container teaching standard positions are inputted into a controlling unit in advance. A wafer to be conveyed precisely positioned with respect to and held by the holding portion is conveyed and placed on the rotating orienting device according a control based on the provisional coordinates of the orienting teaching standard position. A posture detector then detects the eccentric volume and eccentric direction of the wafer. Appropriate position coordinates are made by amending the provisional coordinates. Then, a wafer to be conveyed precisely positioned with respect to the container teaching standard position is conveyed and placed on the rotating orienting device according a control based on the provisional coordinates of the orienting teaching standard position.

Abstract: Disclosed is a method for compensating the position of a robot using a laser measuring instrument by establishing an origin coordinate system; irradiating laser beams onto reflectors and calculating distances to the reflectors; converting the origin coordinate system to an established coordinate system; generating coordinates of an end of a lower tip of a welding gun; calculating a position and posture of the robot; teaching the robot four or more postures; uploading position coordinates of the robot and robot teaching program data to a main computer; determining if an error between CAD data and data modeled through simulation is less than a predetermined value, revising the data if it is not or completing compensation of positions of the welding gun, the robot and the jigs if it is; and downloading the robot teaching program to a robot controller.

Abstract: A robot controller capable of finding a mistaught path and avoiding dangers involved in a real motion of a robot without using an off-line simulation system. An operation program for confirming safety is played back with the robot control system arranged such that a simulation function is on, a real motion is off, and comparison processing is on. When a played-back path designated by each block is compared with a reference path using data on interpolation points, an interpolation point ordinal index i is incremented by “1” (K1), an interpolation point on a reference path Tref(i) is read (K2) and compared with a corresponding interpolation point on the played-back path T(i). An index of distance d(i) and a distance evaluation index &Dgr;d(i) are calculated (K3, K4), and tool-tip orientation difference indices f(i) to h(i) and orientation-evaluation indices &Dgr;f(i) to &Dgr;h(i) are calculated (K5, K6).

Abstract: A robot system including a robot body, a plurality of safety devices to stop the operation of the robot body, connecting portions respectively disposed between the plurality of safety devices, and output device to transmit an output signal to external equipment. The safety devices are respectively connected in series to each other, and the output device is removably connected to at least one of the plurality of connecting portions. The robot body includes a plurality of robot bodies, and respective ones of the plurality of robot bodies are connected to the plurality of safety devices.

Abstract: An operation line tracking device for a robot for performing an operation with a tool mounted on the robot while tracking an operation line using a sensor wherein a detection failure of the sensor is restored by automatically changing or resetting a detecting condition of the sensor when the sensor fails in detecting the operation line. If a detection failure occurs for a cause of excessive or too small quantity of light impinged on light receiving elements of a laser sensor, a laser output intensity is automatically changed. If a detection failure occurs for a cause of basing of the quantity of the impinged light, an orientation of the laser sensor is automatically adjusted. If a detection failure occurs for a cause of biasing of position of the operation line in the visual field of the laser sensor, the position of the laser sensor is automatically adjusted.

Abstract: An industrial robot not malfunctioning if wiring to the safety device is connected after installation is presented. The robot makes an operator pay attention to that the safety device is set in cancel mode, and is hence safer. In the robot, all input connectors of the safety device wired from the outside are identical connectors. The connector has a terminal for feeding a status aside from a terminal for connecting to the safety device. Depending on status input from the outside, a warning sign is displayed on a display device. The warning sign is displayed only when a controller is operated.

Abstract: A method and apparatus for NC machining management based on a measurement program, wherein a machining shape at an arbitrary machining stage is determined by an NC program, a geometric element or a geometric model is generated, and a measurement program is generated on the basis of the geometric model. The measurement program is executed when at least one of the steps of the NC program is completed, and the results of measurement are used as control information for machining measurement.

Abstract: A haptic pointing device includes a plurality of rigid, elongated proximal members, each connected to a separate rigid, elongated distal member through an articulating joint. The other end of each proximal member is coupled to an actuator such as a motor, causing that member to swing within a separate plane perpendicular to the shaft of the motor in response to a control signal. An end-effector is interconnected to the second end of each distal member through an articulating joint, such that as the actuators move the proximal members, the end-effector moves in space. In a preferred embodiment, the device includes at least three proximal members and three distal members, and the end-effector is coupled to a user-graspable element such as a stylus which retains a preferred orientation in space as the members are driven by the actuators.

Abstract: An integrated die cast system is provided comprising a die casting machine, a servo-controlled ladle, a servo-controlled sprayer, a pick and place robot, an integrated controller, and a programming pendant. The die casting machine includes a die casting machine controller. The servo-controlled ladle includes a molten material ladle and a servo-motor arranged to cause the ladle to transfer molten material to an injection chamber of the die casting machine. The servo-controlled sprayer includes a sprayer assembly and a servo-motor arranged to orient the sprayer assembly proximate a die cavity of the die casting machine. The pick and place robot is arranged to access a die cavity of the die casting machine. The integrated controller is in communication with the die-casting machine controller, the servo-controlled ladle, the servo-controlled sprayer, and the pick and place robot.

Abstract: Acceleration information, rotation angle information and rotation angular velocity information are detected by an acceleration sensor and a rotation angle sensor, and detected signals are stored into a storage section in time series. Specific information such as dispersion is calculated from the stored time series signals, and the state of the robot device is determined from the specific information. When it is detected as the state of the robot device that the robot device is lifted up, the movement of a predetermined movable part which acts to the outside is stopped.

Abstract: Process for the automatic determination of an optimal movement program of a robot comprising at least one moving member, a motor associated with the moving member and a control unit capable of activating the motor according to a movement program to move the moving member along a trajectory with a predetermined movement parameter. The process comprises the steps of: acquiring data indicating the load state of the motor and the precision of movement of the robot during the execution of a movement program, comparing the information on the load state and on the precision of movement with predetermined limit values, repeatedly executing the movement program while progressively varying the movement parameter until a measured value of the load state and/or of the precision of movement exceeds a corresponding limit value, and storing as the optimal movement program the last movement program which has been executed without exceeding the limit values.

Abstract: A method for handling the voltage drop, at least in the control unit of a robot with a PC control is provided that minimizes the time of a plant stoppage and avoids wasteful process interruptions. The PC control has a real time operating system for the time critical control and regulation of the robot movement and a standard PC operating system for communication with an operator. In the case of a voltage drop a battery/accumulator operation takes place with running robot movement and optionally application operations broken off or ended in a clearly defined manner. Then, working processes of the control are terminated. The contents of the working memory at the termination time concerning the real time operating system and robot control programs are stored, particularly as an image, in at least one mass memory. For restarting the robot after such a stoppage thereof the standard PC operating system is loaded in the conventional manner into the working memory and started.

Abstract: A system is presented that creates vision-based, three-dimensional control of a multiple-degree-of-freedom dexterous robot, without special calibration of the vision system, the robot, or any of the constituent parts of the system, and that allows high-level human supervision or direction of the robot. The human operator uses a graphical user interface (GUI) to point and click on an image of the surface of the object with which the robot is to interact. Directed at this surface is the stationary selection camera, which provides the image for the GUI, and at least one other camera. A laser pointer is panned and tilted so as to create, in each participating camera space, targets associated with surface junctures that the user has selected in the selection camera. Camera-space manipulation is used to control the internal degrees of freedom of the robot such that selected points on the robot end member move relative to selected surface points in a way that is consistent with the desired robot operation.

Abstract: A master device for generating motion instruction of the slave robot by sensing motion of the arm with fixed to the arm of the operator, and reflecting motion limit information by external force and physical articulation limit sensed by the robot may be simplified in a serial chain configuration so to solve problems of human fatigue and operational complexity in order to minimize dead weight of units mounted to the arm by concentrating and positioning the cylindrical rotating shaft members (44 and 45) near the body.

Abstract: The present invention is an interactive multi-media interface system which incorporates text, audio, and video graphics animation and other tools to interface a user with a device in an outside environment, such as a robotic device, machining or other tool. The interface system includes a computer workstation to allow inputs from a user, such as a machine operator, computer memory, and an interface computer program operating on the computer. The computer has a graphical user interface for interfacing the operator with the workstation and to allow interactive operation and control of the machine tool. The operator can provide inputs to the interface system by various input devices such as a keyboard, cursor, mouse, a stylus pointing device or a touch sensitive screen. The interface software shares access to and exchanges data with the computer memory.

Abstract: A mobile expert machine that moves along a nominal predefined trajectory. The expert machine should be a substitute for unskilled labor performed at workstations characterized by repetitive activities. An expert machine is defined as a machine that performs a specific task; the knowledge applied to the machine should be used to perform a repetitive task professionally. Predefined trajectory is defined as the actual trajectory that the slave expert machine should follow. The slave expert machine should move along a known predefined trajectory whose parameters have been calculated prior to start-up of the motion. It is assumed that the trajectory is given as function of time and the disturbances are well known. A Master Expert Machine (MEM) is incorporated with sensors for sensing and reading joint motions. It features excellent follow-up attributes and records motion activity in its memory by a process of “machine learning” within the study area.

Abstract: An interacting term existing in a control system is decoupled on the basis of a regular condition of a decoupling matrix. Then, an hyperplane &sgr; which has been obtained to satisfy the Lyapunov stability condition is designed. A control quantity is converged along the hyperplane &sgr;. In this case, even if the uncertainty is generated in a C matrix for connecting a state variable x(t) and an output y(t) of an object to be controlled, it is possible to converge the control quantity while always satisfying the Lyapunov stability condition. A non-linear input gain ki (x,t) used in the control system is designed to be greater than a predetermined value when there is no uncertainty in the C matrix to satisfy the Lyapunov stability condition. Also, a control input signal based upon the sliding mode decoupling control is converted to an articulation torque by a Jacobian. Also, for the control input signal, reverse dynamics of non-linear force are added thereto.

Abstract: With an operation handle arranged in the neighborhood of e.g. a microscope for operation as an appliance to be supported attached to the tip of plural arms rotatably coupled with one another, the operation force applied to the operation handle is detected as a signal in directions of plural axes by a force/torque sensor, the detected force/torque information in each of the directions of the plural axes is impedance-control and track-control to compute an operation command for each joint in the plural arms, and on the basis of the operation command for each joint, the plural arms are moved in the direction of the operation force.

Abstract: The present invention relates to a robot path planning method for determining the path of a robot, taking into consideration the bending effect of the robot path when heavy tools are load onto the robot. Specifically, straight line P'-Q' to be actually drawn by the distal end of the robot tool is calculated by using the positions P and Q of the distal end of the tool at the start point and at the end point of the straight line recognized by the robot controller. And, the interpolation points H1', H2', H3', . . . are set on this line P'-Q'. Then, the bending amount .DELTA..theta.pj and .DELTA..theta.qj at the start point P' and at the end point Q' of this line P'-Q' are respectively determined. And, the bending amount at each interpolation point H1', H2', . . . are calculated from these bending amounts .DELTA..theta.pj and .DELTA..theta.qj, and the position on the line P'-Q' of each interpolation point. Then, the values obtained by subtracting from each interpolation point H1', H2', . . .

Abstract: When an autonomous vehicle detects an interruption in a wall, a plurality of optical distance measurement sensors provided in a driving unit measures the distance to a plurality of points of an object of interest located ahead. The configuration of the object of interest located ahead is recognized from the obtained distance information and from the attached angle of each optical distance measurement sensor to determine the subsequent operation of the autonomous vehicle.

Abstract: A planarity teaching station includes one or more proximity sensors arranged to reflect light off a surface to determine a plane in which a substrate is positioned by a robotic arm. The plane of the substrate is then automatically adjusted by changing a Z-axis of a universally tiltable robot base or in another manner, based on the data provided by the planarity teaching station. The adjustment of the substrate or end effector plane allows substrates to be removed from and delivered to various cassettes and workstations of a substrate processing system without damage to the substrate caused by end effector misalignment.

Abstract: A detecting apparatus for performing an auto-teaching operation is used in a vertical heat treatment system to cause a controller for controlling movement of a wafer transfer arm to learn a unit of positional information about a wafer boat placed on a transfer station. The detecting apparatus has a base frame having a shape similar to a wafer and detachably mounted on a wafer holding place of the boat. On the base frame are a Z-sensor formed of an optical sensor of a reflection type, a pair of .theta.-sensors, and an X-sensor. The auto-teaching operation is performed by observing the transfer arm by the detecting apparatus while the detecting apparatus is placed on the wafer holding place of the boat.

Abstract: A robot control apparatus does not require an expert to perform programming, prepare teaching data or reprogram the motions of a work robot. The controller for the robot accepts the teaching point instructed by a beginner operator, and computes the start and end points in a track from the input teaching points. The controller also computes target start and end points in each of the passes in the track based on the current track points and the overspray width input by the operator and automatically allows for the overspray width. The control apparatus therefore facilitates operation of painting tasks which conventionally required a labor-intensive effort in reprogramming by an expert operator.

Abstract: A program formation block extracts an operation factor which must be performed and the target work of the operation factor for each car type from a car-type classified operation registration file on the basis of a car-type number input from a car-type No. input block. The program formation block selects a manipulator capable of the extracted operation factor from an operation factor manipulator table, and extracts, from a manipulator individual program module, a program which the selected manipulator requires to perform the operation factor. Such processes are performed to all operation factors extracted from the car-type classified operation registration file to form a series of programs. Interlock information between manipulators is added to the series of programs to automatically generate teaching data.

Abstract: The invention relates to a teaching method for instructing relative proximity locations to a loading arm that is used for loading objects to be processed in to or out of a support boat, the support boat being provided with a plurality of support portions for supporting the objects to be processed at a predetermined pitch along the length thereof. With this teaching method the loading arm is moved manually into the vicinity of one of the plurality of support portions that is positioned at an uppermost end of the support boat, a support portion positioned at a lowermost end thereof, and at least one support portion other than the two support portions; obtaining three-dimensional coordinates thereof; and these three-dimensional coordinates are stored in a storage portion. The three-dimensional coordinates for each of the others of the support portions are then derived on the basis of these stored values.

Abstract: In an autonomous navigation system for a mobile robot or a manipulator which is intended to guide the robot through the workspace to a predetermined target point in spite of incomplete information without colliding with known or unknown obstacles. All operations are performed on the local navigation level in the robot coordinate system. In the course of this, occupied and unoccupied areas of the workspace are appropriately marked and detected obstacles are covered by safety zones. An intermediate target point is defined in an unoccupied area of the workspace and a virtual harmonic potential field is calculated, whose gradient is followed by the robot. Mobile robots with such an autonomous navigation system can be used as automated transport, cleaning and service systems.

Abstract: A robot position teaching system and method including a robot controller to control a robot, a visual sensor to measure a three-dimensional position, an image processing device to measure a position by processing and analyzing an image recognized by the visual sensor, and a position teaching unit provided with a grasping portion having a size which can be grasped by a hand of an operator, and an index which can visually be recognized by the visual sensor, and is disposed at a distal end of a rod-type body extending from the grasping portion. The operator turns on a moving switch of the position teaching unit such that the robot controller moves the robot toward a position of the index recognized by a camera. When an approach teaching switch of the position teaching unit is turned on after movement of the robot is stopped, data of a current position of the index recognized by the camera is stored as teaching position data.

Abstract: A conveyor controller calculates a distance which a conveyor is to move to convey a workpiece, and a simulated model of the conveyor is moved by a conveyor moving circuit. The calculated distance is converted into conveyor movement pulses by an encoder circuit, and the conveyor movement pulses are stored in a memory. A robot controller operates a simulated model of a coating robot in synchronism with the movement of the conveyor, based on statuses of simulated models of limit switches which are set by a limit switch controller. Statuses of operation of the simulated models are displayed on a display unit.

Abstract: A robot is moved to a laser sensor detection angle adjustment position, and scanning with a laser beam is started. As this is done, a reading-scanning operation of a CCD light detector of a laser sensor is executed repeatedly, and cell numbers i for maximum detection outputs and their output values .beta.i are stored. When the laser beam scanning is finished, the individual output values .beta.i are compared with a reference value .alpha.. If all the values .beta.i are not greater than the reference value .alpha., then the robot attitude is changed by a small angle, and repetition of laser beam scanning, reading-scanning of the CCD detector, storing of cell numbers i for the great detection output and their output values .beta.i and comparison between the values .beta.i and the reference value .alpha. are repeated. An attitude .phi. for the point of time when the reference value .alpha. is exceeded by all the values .beta.

Abstract: A mobile robot control system with plural mobile robots each of which moves along a predetermined route in the same area. One mobile robot gives way to the other mobile robot when the mobile robot receives a signal emitted by the other mobile robot. A mobile robot moving on a predetermined route has a sensor which senses whether or not an obstacle exists on the route. The sensor senses again after a predetermined time from the first sensing whether the sensor still detects the obstacle existing on the route at the first sensing.

Abstract: A robot which is capable of automatically generating movement path patterns based on taught data and in which a data teaching operation associated with pattern generation is simplified and no special data teaching is required even when the pitch between pattern segments is to be changed. During a manual robot operation, when start and end points (P0, Pn) of a spraying pattern which consists of a series of subpatterns, and a first cornering point (P1) of a first subpattern are taught to the robot, taught data representing these three point is stored in a robot control unit, together with a spraying command code and a spraying pitch (d) taught separately. During a playback robot operation, in response to the spraying command code, a vector (A) directed from the start point (P0) to the first cornering point (P1) and a vector (D) directed from the first cornering point (P1) to a second cornering point (P2) are calculated based on the taught data and the pitch.

Abstract: The teaching procedure is performed so that a relative position of the tool against a workpiece and an attitude of a tool against a ground are maintained constant under a control of a co-acting mode of the manual operation. The position and the attitude of the workpiece and the position and the attitude of the tool are manipulated in response to a co-acting mode signal supplied by a mode changing switch, a robot signal selecting the workpiece handling robot supplied by a robot changing switch and actuating signals supplied by a group of the keys. The manipulation of the position of the tool by the tool handling robot is coordinated with the manipulation of the position and the attitude of the workpiece by the workpiece handling robot maintaining the attitude of the tool against the ground and the relative position of the tool against the workpiece.

Abstract: A robot teaching pendant having improved operability achieved by being provided with a display function for a personal computer. The robot teaching pendant includes an emergency stop switch and a deadman switch necessary to secure the safety of an operator, and a jog key switch necessary for a teaching operation. The robot teaching pendant further includes a liquid crystal display unit for displaying an image signal supplied from a graphical (CRT) interface of the personal computer, whereby the robot teaching pendant not only serves as a display unit for the personal computer but also realizes an easy to operate display using the graphical user interface of the personal computer when a teaching operation and the like are carried out.