Articulated robot

An articulated robot,

• comprising:
• an arm section including a plurality of arms, which are pivotably connected by a plurality of articulations;
• means for actuating the arms so as to move a front end of said arm section to an object position, which has been previously taught, in a rectangular coordinate system including three axes;
• means for manually selecting one of the axes of the rectangular coordinate system so as to move the front end of said arm section along the selected axis for teaching the object position;
• a manual pulse generator having a manually-operated rotary dial, said manual pulse generator generating pulses corresponding to a rotational angle of the rotary dial;
• first control means for controlling said actuating means so as to move the arms and linearly move the front end of said arm section a prescribed distance, which corresponds to number of pulses generated by said manual pulse generator, along the selected axis;
• an operating board including a selecting switch, which is used to move the front end of said arm section along the selected axis;
• second control means for automatically controlling said actuating means so as to linearly move the front end of said arm section along the selected axis while the selecting switch selects the axis and being turned on;
• third control means for stopping said actuating means so as to freely move the arms while the front end of said arm section is manually moved to the object position;
• and
• means for selecting said control means so as to select a type of teaching action.