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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Absrracr-Off-Line programming system for robots are required to have fbnctions that determine application conditions, select application tools, plan robot arrangement and simulate the programmed data during robot operation.Toyota Motor Corporation and Toyoda Machine Works have codeveloped a CAD/CMCAE system which satisfies these requirements.This paper is provides a correction method for mechanical errors and set position errors of a robot. Set position error of a robot is the difference between the set position data which is made by CAD/ CAhlICAE system versus the actual factory floor set position.Concerning the correction of mechanical errors, we developed a method that achieves the desired results easily without any measuring devices. By analyzing the deflection variation produced by different loads, the modulus of elasticity of individual linkages were found.The result is that the quantity of deflection, which is a nongeometrical parameter, is obtained.This system has been in operation on various production lines effectively reducing both the lead production time from eight months to four months and the manhour requirements by 50 percent.

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