Method and system for teaching robot
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsYoshinori Kegasa, Takehiko Murata
Life of this patent
Estimating the term…
Abstract
A robot teaching system includes a teaching unit and a robot including a robotic arm and a robot controller. In the robot teaching system, a workpiece includes an internal space having an opening, and a target object of a work by the end effector exists in the internal space. The robot controller determines a possibility that the arm part interferes with an edge of the opening while the robotic arm is jogging or inching.
Claims12
A method of teaching a robot including a robotic arm and a robot controller, the robotic arm being provided with an end effector at a tip-end part of an arm part of the robotic arm, and the robot controller controlling operation of the robotic arm and setting a teach point according to operation of an operation inputter,
- wherein a workpiece includes an internal space having an opening, and a target object of a work by the end effector exists in the internal space,
- the method comprising performing a first process, the first process comprising:
- estimating by the robot controller a position of the robotic arm that corresponds to a jogging operation or an inching operation of the operation inputter;
- determining by the robot controller a possibility that the arm part interferes with an edge of the opening in a case that the robotic arm jogs to the estimated position of the robotic arm according to the jogging operation or inches to the estimated position of the robotic arm according to the inching operation;
- and
- upon determining that there is no possibility of interference of the arm part with the edge of the opening, causing by the robot controller the robotic arm to jog to the estimated position of the robotic arm according to the jogging operation or inch to the estimated position of the robotic arm according to the inching operation.
A system of teaching a robot, comprising:
- an operation inputter;
- and
- a robot including a robotic arm and a robot controller, the robotic arm being provided with an end effector at a tip-end part of an arm part of the robotic arm, and the robot controller controlling operation of the robotic arm and setting a teach point according to operation of the operation inputter,
- wherein a workpiece includes an internal space having an opening, and a target object of a work by the end effector exists in the internal space, and
- the robot controller executes a first process, the first process comprising:
- in response to a jogging operation or an inching operation to the operation inputter, estimating a position of the robotic arm that corresponds to the jogging operation or the inching operation;
- determining a possibility that the arm part interferes with an edge of the opening in a case that the robotic arm jogs to the estimated position of the robotic arm according to the jogging operation or inches to the estimated position of the robotic arm according to the inching operation;
- and
- upon determining that there is no possibility of interference of the arm part with the edge of the opening, causing the robotic arm to jog to the estimated position of the robotic arm according to the jogging operation or inch to the estimated position of the robotic arm according to the inching operation.
Dependencies are inferred from the claim text.