Teaching support device
AssigneeSeiko Epson Corporation
InventorYuma Shimura
Life of this patent
Estimating the term…
Abstract
A teaching support device configured to perform teaching to a robot which has a robot arm a tip of which is attached with a polishing tool, and which controls the robot arm with force control to perform a polishing task on an object includes a teaching point acquisition section configured to obtain information related to a plurality of teaching points set to the object, a polishing parameter acquisition section configured to obtain information related to a polishing parameter of the polishing task at the plurality of teaching points obtained by the teaching point acquisition section, and a display control section configured to display the teaching point out of the plurality of teaching points with a color based on the polishing parameter obtained by the polishing parameter acquisition section so as to overlap the object.
Claims7
A teaching support device comprising:
- a memory configured to store a program;
- and
- a processor configured to execute the program so as to:
- perform teaching to a robot which has a robot arm, a tip of the robot arm being attached with a polishing tool;
- control the robot arm with force control to perform a polishing task on an object, a contact point of the polishing tool to the object being a tool center point;
- obtain information related to a plurality of teaching points set to a surface of the object, the tool center point of the polishing tool passing the plurality of teaching points during the polishing task;
- obtain information related to a polishing parameter of the polishing task at the plurality of teaching points, the information related to the polishing parameter including the polishing tool, a size of an abrasive grain of the polishing tool, a speed of the polishing tool, and a pressing force of the polishing tool to the object;
- and
- one teaching point of the plurality of teaching points with a color based on the polishing parameter so as to overlap the object.
Dependencies are inferred from the claim text.