Patent US 5,481,652

A control system for a robot including a teaching box provided with a hand alignment command section and a control unit for the robot. A hand-alignment movement-amount computing section computes an amount of movement along each axis of the robot in a hand alignment operation. A drive section drives the robot. A present-position data memory section stores data for a present position of a hand. A present-pose data memory section stores data for the present pose of the hand of the robot. A pose memory section stores deserved pose data of the hand which data is, required for a teaching operation. A pose-data modifying section modifies the data of the pose memory section. A pose memory command section instructs the modifying to modify the pose data.