Concerning robot teaching, an online teaching method has conventionally been carried out by skilled workers using a teaching pendant. However, the teaching pendant is different with every robot manufacture and requires a large number of man-hours to assign a large number of points in defining the tool path for deburring. In recent years, use of an offline teaching method that utililises a three-dimensional robot simulation system has begun to spread, however, this is not necessarily easy to introduce in medium-and small-sized businesses. Thus two kinds of teaching support devices were developed from actual workpieces and deburring tools to prepare the tool path, considering the volume of investment for equipment and training of operators. One is a three-wire type teaching support device, and the other an arm type one. The former consists of tension wires supported at three points like a kite, and the latter consists of two arms and six connecting axes. Each device can measure the position and posture of a dummy tool in the deviceÕs coordinates. From the experiments, the arm-type teaching support device shows enough precision capability as a teaching support device, as opposed to the three-wire type teaching support device, which is cost-effective.

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