Teaching method
AssigneeSeiko Epson Corporation
InventorMasayuki Okuyama
Life of this patent
Estimating the term…
Abstract
A teaching method of teaching a position of a control point on a working route through which the control point set on a robot arm passes when the robot arm performs work and a posture of the robot arm using three-dimensional data of a working object, includes a first step of setting a predetermined first work point on the working route based on the three-dimensional data, and a second step of associating a first coordinate system set for the first work point with a second coordinate system set for the robot arm when the control point is located at the first work point, wherein, at the second step, one is selected from a plurality of candidates of the first coordinate system at the first work point, and the selected coordinate system is set as a first correction coordinate system for the first work point.
Claims6
A teaching method for causing a processor to execute a process, the teaching method comprising the steps of:
- executing simulation software to read 3D data in an object coordinate system with respect to a work object;
- displaying a virtual robot corresponding to a robot and a virtual work object corresponding to the work object on a display during the execution of the simulation software, the robot having a robot arm with a tool, the virtual robot having a virtual robot arm with a virtual tool corresponding to the robot arm with the tool, the robot having a robot coordinate system, the robot arm with the tool having a tool coordinate system, the robot coordinate system, the object coordinate system, and the tool coordinate system being without associating each other;
- moving the virtual robot arm with the virtual tool toward the virtual work object;
- selecting a working route through which a control point on the virtual robot arm passes based on the 3D data in the object coordinate system when the robot arm performs work for the work object in a real world;
- setting a plurality of target points on the selected working route;
- obtaining coordinates of the plurality of target points in the robot coordinate system;
- identifying a first work point among the plurality of target points from which the virtual robot arm with the virtual tool starts the work;
- generating a first rotation matrix rotating the robot coordinate system to the tool coordinate system and a second rotation matrix rotating the robot coordinate system to the object coordinate system;
- calculating candidate coordinate systems in the object coordinate system for the first work point based on the first and second rotation matrixes and the obtained coordinates of the plurality of target points;
- selecting one coordinate system for the first work point from the candidate coordinate systems by comparing the candidate coordinate systems with the tool coordinate system;
- setting the selected one coordinate system as a first correction coordinate system;
- creating an operation program for the work through the working route based on the first correction coordinate system;
- and
- operating the robot based on the created operation program.
Dependencies are inferred from the claim text.