Teaching device for performing robot teaching operations and teaching method
AssigneeFanuc Corporation
InventorTakashi Satou
Life of this patent
Estimating the term…
Abstract
A teaching device for performing teaching operations of a robot includes a selection unit which, during a teaching operation or after a teaching operation of the robot, moves among a plurality of lines of a program of the robot and selects a single line, an error calculation unit which calculates, after the robot has been moved by hand-guiding or jog-feeding to a teaching point which has already been taught in the selected single line, a position error between the teaching point and a position of the robot after movement, and an instruction unit which instructs to re-teach the teaching point when the position error is within a predetermined range.
Claims6
A teaching device for performing teaching operations of a robot, which performs operations on a workpiece, comprising:
- a selection unit configured to, during a teaching operation or after a teaching operation of the robot, scroll an operation program of the robot upward or downward and select a single line among a plurality of lines of the operation program,
- a processor configure to
- calculate, after the robot has been moved by hand-guiding or jog-feeding to a teaching point which has already been taught in the selected single line, at least one of (i) a position error between the teaching point and a position of the robot after movement and (ii) an orientation error between an orientation of a tool attached to the robot at the teaching point and the orientation of the tool attached to the robot after movement, and
- instruct to re-teach the teaching point in response to at least one of the position error and the orientation error being within a respective predetermined range, and
- a display configured to display a real image of a real space including the robot and the workpiece, wherein
- the processor is configured to cause the display to superimpose information indicating the position of the teaching point on the real image, and
- the processor is configured to cause the display to display on the display a model of the tool having the orientation when teaching the teaching point, the model being superimposed onto the real image.
A teaching method for performing teaching operations of a robot which performs operations on a workpiece, the method comprising:
- scrolling, during a teaching operation or after a teaching operation of the robot, an operation program of the robot upward or downward and selecting a single line among a plurality of lines of the operation program,
- calculating, after the robot has been moved by hand-guiding or jog-feeding to a teaching point which has already been taught in the selected single line, at least one of
- a position error between the teaching point and a position of the robot after movement and
- an orientation error between an orientation of a tool attached to the robot at the teaching point and the orientation of the tool attached to the robot after movement, and
- re-teaching the teaching point in response to at least one of the position error and the orientation error being within a respective predetermined range,
- displaying, on a display, a real image of a real space including the robot and the workpiece,
- superimposing, on the display, information indicating the position of the reaching point on the real image, and
- displaying, on the display, a model of the tool having the orientation when teaching the teaching point, the model being superimposed onto the real image.
Dependencies are inferred from the claim text.