A Simplified Teaching Method of a Playback-Type Industrial Robot

control data of the 3-dimensional operations of a playbackLtype industrial robot can be stored in apersonal computer. The control data of the 3-dimensional operations are given using an instructionwand handled by an operator. The operator's task is only to track a desired robot path with the wand.The 3-dimensional position of the wand are measured by ultrasonic devices, the principle of which wasdeveloped for this study and is introduced in detail. In order to clarify the applicability of this method,