Abstract: A robot teaching machine according to the present invention includes a guiding tool having a first angle sensor, a coordinate detector having a plurality of rotating portions and a second angle sensor for detecting a rotational angle of each of the rotating portions, a first motion transfer member for detecting a distance between the guiding tool and the coordinate detector that are connected with each other, a second motion transfer member for connecting the guiding tool and the coordinate detector and detecting an attitude of the guiding tool, and a coordinate converter for deriving a three-dimensional position and an attitude of the guiding tool from values detected by the first and the second angle sensors, respectively. The first motion transfer member and the second motion transfer member independently work for providing precise guiding data.

Abstract: An electric control apparatus for an industrial robot the arm of which is actuated to carry out machining of a workpiece by means of a machining tool attached thereto. The control apparatus includes a force sensor arranged to detect reaction force acting on the tool, a memory for memorizing a maximum reaction force detected by the sensor during each machining process of the workpiece in a plurality of split sections of a teaching line, a comparator for comparing the memorized maximum reaction force with a set value indicative of a limit of reaction force acting on the tool and for producing a signal therefrom when the memorized maximum force exceeds the set value.

Abstract: The invention relates to a concrete admixture comprising a polyethyleneimine compound for incorporation into a cementing composition.