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Abstract

A robot system for carrying out a bending process with respect to a workpiece held by a robot, in which an arc interpolation motion of the robot can be easily and precisely taught. A user coordinate system is set so as to specify a rotation axis of the bending motion in the bending process by inputting the position and/or angle of each axis of the robot to a teaching pendant by the operator. Next, in a teaching program of the robot, a process start position and an operation form are defined so as to add a bending process command, and a rotation angle of the bending process and an angular velocity of a command line about the rotation axis are designated. By virtue of this, an internal program for carrying out an arc interpolation motion by the robot is generated in a robot controlling part.

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First Claim