Teaching arrangement for programmable manipulator

Abstract

A manipulator apparatus having a manipulator arm movable in a plurality of axes is programmed and taught to perform a desired sequence of operations over selected work paths. Basic control parameters relating to movement of the arm independent of the length and orientation of the work paths are programmed by a supervisor/programmer on the controls of a supervisory control unit. The control parameters represent manipulator work parameters and manipulator arm movement different than the taught work paths in a subsequent second teach phase. An operator/programmer in a teach phase proceeds to guide the manipulator arm over the predetermined work paths in contact with a work surface. The work paths are taught or programmed by the automatic recording into a main control memory of positional data. During the teach phase, the control parameters stored in the supervisory control unit are automatically recorded into the main control memory for each of the work paths in a predetermined relationship to the recorded positional data points. The recorded signals are utilized as command signals in subsequent playback cycles. Between sequential work paths in the overall work cycle or work path sequence, transfer steps corresponding to manipulator arm movement not in contact with the work surface are also taught by the recording of data into the main control memory during the teach phase.