Method and device for robotic direct lead-through teaching
AssigneeIndustrial Technology Research Institute
InventorsWei-Der Chung, Chun-Chieh Wang, Ping-Cheng Hsieh, Xiao Hu
Life of this patent
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Abstract
A device for robotic direct lead-through teaching includes a robot, a replacing member and a lead-through teaching member. The robot has an operation member coupled with the replacing member. The lead-through teaching member mounted replaceably at the replacing member has a force sensor. The force sensor has six-axis load information. A path teaching is executed manually upon the operation member of the robot so as to store coordinate information. In additional, a method for robotic direct lead-through teaching is also provided.
Claims25
A robotic direct lead-through teaching method, comprising the following steps:
- providing a force sensor being replaceably mounted at a robot has a six-axis load information;
- and
- performing a path teaching upon the robot, the path teaching further comprising the following steps:
- performing a force-guide mode upon the robot;
- updating a velocity information to the robot, the velocity information is obtained by integrating the six-axis load information;
- updating a coordinate information to the robot, the coordinate information is obtained by integrating the velocity information of the robot;
- and
- determining if the path teaching is complete;
- if it is negative, returning back to perform the force-guide mode upon the robot;
- if it is positive, storing the coordinate information.
A robotic direct lead-through teaching device, comprising:
- a robot, having an operation member;
- a replacing member, coupled with the operation member;
- and
- a lead-through teaching member, replaceably mounted at the replacing member, further including a force sensor having six-axis load information, for performing a path teaching operation upon the operation member of the robot, the path teaching operation is employed to store coordinate information by performing a force-guide mode on the robot,
- wherein the path teaching operation comprises:
- performing a force-guide mode upon the robot
- updating a velocity information to the robot, the velocity information is obtained by integrating the six-axis load information;
- updating a coordinate information to the robot, the coordinate information is obtained by integrating the velocity information of the robot;
- and
- determining if the path teaching operation is complete;
- if it is negative, returning back to perform the force-guide mode upon the robot if it is positive, storing the coordinate information.
Dependencies are inferred from the claim text.