Apparatus and method for programming a computer operated robot a

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318568, 364193, 364474, 901 3, G06F 1546, G05B 1942

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active

047574593

ABSTRACT:
Apparatus and method are disclosed for teaching a cycle of operation to a computer operated robot arm. A keyboard is provided comprising first keystroke means which are operative in two different teaching modes. In a first teaching mode, the keystroke means cause storage of individual instructions defining an operation to be performed by the robot arm at a point in space. In the second teaching mode the first keystroke means are operative for creating a macro comprising a sequence of such instructions for later use. There is a pendant which controls the movement of the end of the robot arm and has second keystroke means for causing a previously stored macro to be assembled into an operating control program for the robot arm. The second keystroke means also may be used for causing assembly of individual instructions into the operating control program.

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patent: 4484286 (1984-11-01), Nagamine et al.
patent: 4603285 (1986-07-01), Matsoura et al.
patent: 4641236 (1987-02-01), Brooks
Chapter 11 of the Display Write 3 Users Guide, vol. 1, IBM--date unknown.

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