Method of controlling robot and robot control apparatus

Claim 3

A method according to claim 1, wherein the plurality of moving units include an arm unit and a hand unit of said robot.

Claim 4

A method according to claim 1, wherein the step (c) temporarily stores the position information into a storage area of the register corresponding to the identification data input in the step (b), and wherein the step (d) reads out the position information from the storage area of the register corresponding to the identification data input in the step (b).

Claim 5

A robot control apparatus comprising: a plurality of control objects; first input means for inputting index information for discriminating teaching points of said plurality of control objects; designation means for designating one of said plurality of control objects; generating means for generating identification data for identifying the control object designated by said designation means; second input means for inputting position information of a teaching point; storage means for storing the position information input by said second input means; and storage control means for providing correspondence between the index information input by said first input means, the identification data generated by said generating means and the position information input by said second input means and for storing them into a storage area of said storage means independent of a kind of control object.

Claim 6

A robot control apparatus comprising: a plurality of control objects; first input means for inputting index information for discriminating teaching points of said plurality of control objects; designation means for designating one of said plurality of control objects; generating means for generating identification data for identifying the control object designated by said designation means; second input means for inputting position information of a teaching point; storage means for storing the position information input by said second input means; and storage control means for providing correspondence between the index information input by said first input means, the identification data generated by said generating means and the position information input by said second input means and for storing them into a storage area of said storage means independent of a kind of control object.

Claim 7

An apparatus according to claim 4, wherein said plurality of control objects includes an arm unit and a hand unit of a robot.

Claim 8

An apparatus according to claim 4, further comprising a register for temporarily storing the position information input by said second input means into a storage area corresponding to the control object, and wherein said storage control means reads out the position information from the storage area of said register corresponding to the control object designated by said designation means and stores the read out position information into said storage means.

Claim 9

A robot control apparatus comprising: a plurality of control objects; storage means for storing teaching points which indicate the position of said control objects and identification data which identify respectively the control objects corresponding to the teaching points, the teaching point and the identification data corresponding thereto being stored as a set in a common area of said storage means independent of a kind of control object corresponding to the teaching point; command means for commanding a positioning operation of a desired control object using a command including the identification data of the desired control object and designating data for selecting the teaching point; and control means for reading out the teaching point and the identification data from said storage means in accordance with the designating data of the teaching point, and for, when the readout identification data coincides with the identification data in the command, allowing the desired control object to be moved to a position of the readout teaching point and, when the readout identification data does not coincide with the identification data in the command, performing an error processing routine.

Claim 10

A robot control apparatus comprising: a plurality of control objects; storage means for storing teaching points which indicate the position of said control objects and identification data which identify respectively the control objects corresponding to the teaching points, the teaching point and the identification data corresponding thereto being stored as a set in a common area of said storage means independent of a kind of control object corresponding to the teaching point; command means for commanding a positioning operation of a desired control object using a command including the identification data of the desired control object and designating data for selecting the teaching point; and control means for reading out the teaching point and the identification data from said storage means in accordance with the designating data of the teaching point, and for, when the readout identification data coincides with the identification data in the command, allowing the desired control object to be moved to a position of the readout teaching point and, when the readout identification data does not coincide with the identification data in the command, performing an error processing routine.

Claim 11

An apparatus according to claim 7, wherein said plurality of control objects include an arm unit and a hand unit of a robot.

Claim 12

An apparatus according to claim 7, wherein said command means comprises means for interpreting the command.

Claim 13

An apparatus according to claim 7, wherein said command means comprises means for manually inputting an instruction for moving said plurality of control objects.

Claim 16

A method according to claim 11, wherein each area of said storage means includes a first field for storing the teaching point data and a second field for storing the identification data, and when the second field is empty, a storage operation of the teaching point data input in the step (a) and the identification data input in the step (c) is enabled.

Claim 17

A method according to claim 12, wherein when the identification data is already stored in said second field, and when the identification data input in the step (c) coincides with the identification data stored in said second field, a storage operation of the teaching point data input in the step (a) is enabled.

Claim 18

A method according to claim 11, wherein said plurality of control objects include an arm unit and a hand unit of a robot.

Claim 19

A robot control apparatus comprising: a plurality of control objects; storage means, in which has been stored teaching point data for positioning said plurality of control objects and identification data which identify respectively the control objects corresponding to the teaching points, said storage means having areas assigned in correspondence with said plurality of control objects; input means for inputting teaching point data of said plurality of control objects together with area data indicating a storage area of the teaching point data and identification data for identifying the corresponding control object; and control means for, when identification data in said storage means corresponding to the area data input by said input means coincides with the identification data input by said input means, enabling a storage operation of the teaching point data input by said input means in said storage means and, when the identification data in said storage means corresponding with the identification data input by said input means, performing an error processing routine.

Claim 20

A robot control apparatus comprising: a plurality of control objects; storage means, in which has been stored teaching point data for positioning said plurality of control objects and identification data which identify respectively the control objects corresponding to the teaching points, said storage means having areas assigned in correspondence with said plurality of control objects; input means for inputting teaching point data of said plurality of control objects together with area data indicating a storage area of the teaching point data and identification data for identifying the corresponding control object; and control means for, when identification data in said storage means corresponding to the area data input by said input means coincides with the identification data input by said input means, enabling a storage operation of the teaching point data input by said input means in said storage means and, when the identification data in said storage means corresponding with the identification data input by said input means, performing an error processing routine.

Claim 21

An apparatus according to claim 15, wherein each area of said storage means includes a first field for storing the teaching point data, and a second field for storing the identification data, said apparatus further comprises judging means for judging whether or not said second field is empty, and said control means enables a storage operation of the teaching point data and then identification data input by said input means when said judging means judges that said second field is empty.

Claim 22

An apparatus according to claim 15, wherein said plurality of control objects include an arm unit and a hand unit of a robot.

Claim 23

An apparatus according to claim 16, further comprising means for clearing a content of said second field.