Abstract: In the articulated robot, types of teaching a moving track of the robot can be optionally selected. The articulated robot comprises: a switch for manually selecting a moving axis to move an arm section along the selected axis; a manual pulse generator generating pulses; first controller for controlling motors to linearly move a front end of the arm section a prescribed distance, which corresponds to number of pulses; an operating board including a selecting switch, which is used to move the arm section along the selected axis; second controller for automatically controlling the motors so as to move the arm section while the selecting switch is turned on; third controller for stopping the motors to freely move the arm section while the arm section is manually moved; and a switch for selecting a type of teaching action.

Abstract: The method of teaching an articulated robot is capable of rapidly and precisely teaching a moving track of the articulated robot. The method of teaching the articulated robot, in which a front end of the robot is moved to prescribed positions to teach the moving track, comprises the step of controlling motions of articulations of the robot so as to move the front end along axes of a coordinate system, wherein moving distances of the front end correspond to number of pulses inputted by a manual pulse generator.

Abstract: In the articulated robot, types of teaching a moving track of the robot can be optionally selected. The articulated robot comprises: a switch for manually selecting a moving axis to move an arm section along the selected axis; a manual pulse generator generating pulses; first controller for controlling motors to linearly move a front end of the arm section a prescribed distance, which corresponds to number of pulses; an operating board including a selecting switch, which is used to move the arm section along the selected axis; second controller for automatically controlling the motors so as to move the arm section while the selecting switch is turned on; third controller for stopping the motors to freely move the arm section while the arm section is manually moved; and a switch for selecting a type of teaching action.

Abstract: An object of the present invention is to provide a method of teaching a position, in which greater loads are not applied to a workpiece, a machining tool and a mechanism for moving the workpiece. The method is characterized by the steps of: driving the motors with detecting exciting currents so as to move the workpiece from a position short of an object position to the object position; making the workpiece contact with the machining tool corresponding to the object position; temporally turning off the exciting currents of the all motors if at least one of the exciting currents is greater than a predetermined value; and storing a position of the workpiece as the object position if counter forces, which work from the machining tool to the arms and the motors, and frictional forces, which are generated in the arms and the motors, are balanced when the exciting currents are turned off and the workpiece is made contact with the machining tool.

Abstract: An object of the present invention is to provide a method of teaching a position, in which greater loads are not applied to a work piece, a machining tool and a mechanism for moving the work piece. The method is characterized by the steps of: driving the motors with detecting exciting currents so as to move the work piece from a position short of an object position to the object position; making the work piece contact with the machining tool corresponding to the object position; temporally turning off the exciting currents of the all motors if at least one of the exciting currents is greater than a predetermined value; and storing a position of the work piece as the object position if counter forces, which work from the machining tool to the arms and the motors, and frictional forces, which are generated in the arms and the motors, are balanced when the exciting currents are turned off and the work piece is made contact with the machining tool.

Abstract: The present invention provides a finishing machine for casted products, which can uniformly remove fins on circumferential side faces, upper face, etc. of casted products by correcting amount of abrasion of a rotary grindstone. Therefore, the finishing machine for casted products has means for detecting the amount of abrasion of the rotary grindstone and means for correcting which adds the amount of abrasion of the rotary grindstone to the amount of travel of the rotary grindstone and a work.