Teaching apparatus for robot

A teaching apparatus for a robot hand functioning in surroundings, comprising:

• a graphic display capable of displaying characters, symbols, and figures, a pointing device capable of indicating any point on the graphic display, a storage for storing characters, symbols, and graphic information, and an arithmetic and logic unit for taking in three dimensional data of a world coordinates system and data of a robot hand coordinates system stored in said storage;
• said arithmetic and logic unit further having means for calculating a conversion matrix T.sub.v for converting three dimensional data of the world coordinates system to data of the robot hand coordinates system and a conversion matrix T.sub.p for converting the three dimensional data of the robot hand coordinates system to a two dimensional projection in the robot hand coordinates system,
• said arithmetic and logic unit converting the three dimensional data of the world coordinates systems to two dimensional projection data of the robot hand coordinates system by applying the thus calculated conversion matrices T.sub.v and T.sub.p to produce output data;
• said arithmetic and logic unit further having means for reading the data of the robot hand coordinates system after movement of the robot hand to obtain renewed robot hand coordinates system data, said means for calculating further for calculating renewed conversion matrices T.sub.v and T.sub.p according to the renewed robot hand coordinates system data;
• said arithmetic and logic unit further converting the three dimensional data of the world coordinates system to two dimensional projection data of the robot hand coordinates system by applying the renewed conversion matrices to produce renewed output data;
• and
• said graphic display receiving said output data and having means for providing a display of the surroundings viewed from a view point of the robot hand and further receiving said renewed output data after movement of the robot hand for changing the display and providing a display of the surroundings viewed from a viewpoint of the robot hand in motion.