Device for correcting robot teaching position, teaching device, robot system, teaching position correction method, and computer program

A teaching device of a robot, comprising a device configured to correct a teaching position of the robot when an arrangement of a workpiece with respect to the robot changes, by using an index arranged at a predetermined position with respect to the workpiece, wherein the device comprises a processor configured to:

• acquire first position data of the robot when a hand-tip portion of the robot is arranged in a predetermined positional relationship with the index in a state where the hand-tip portion is arranged at a first orientation, before change of the arrangement of the workpiece;
• acquire second position data of the robot when the hand-tip portion is arranged in the predetermined positional relationship with the index in the state where the hand-tip portion is arranged at the first orientation, after the change of the arrangement of the workpiece, the second position data being different from the first position data;
• acquire orientation change data indicating a change amount in an orientation of the workpiece with respect to the robot due to the change of the arrangement, based on the first position data and the second position data;
• acquire third position data of the robot when the hand-tip portion is arranged in the predetermined positional relationship with the index in a state where the hand-tip portion is arranged at a second orientation which is corrected from the first orientation by using the orientation change data;
• acquire position change data indicating a change amount in a position of the workpiece with respect to the robot due to the change of the arrangement, based on the first position data and the third position data;
• and
• control an operation of the robot, based on the orientation change data and the position change data.

A robot system, comprising:

• a robot;
• and
• a device configured to correct a teaching position of the robot when an arrangement of a workpiece with respect to the robot changes, by using an index arranged at a predetermined position with respect to the workpiece, wherein the device comprises a processor configured to:
• acquire first position data of the robot when a hand-tip portion of the robot is arranged in a predetermined positional relationship with the index in a state where the hand-tip portion is arranged at a first orientation, before change of the arrangement of the workpiece;
• acquire second position data of the robot when the hand-tip portion is arranged in the predetermined positional relationship with the index in the state where the hand-tip portion is arranged at the first orientation, after the change of the arrangement of the workpiece, the second position data being different from the first position data;
• acquire orientation change data indicating a change amount in an orientation of the workpiece with respect to the robot due to the change of the arrangement, based on the first position data and the second position data;
• acquire third position data of the robot when the hand-tip portion is arranged in the predetermined positional relationship with the index in a state where the hand-tip portion is arranged at a second orientation which is corrected from the first orientation by using the orientation change data;
• acquire position change data indicating a change amount in a position of the workpiece with respect to the robot due to the change of the arrangement, based on the first position data and the third position data;
• and
• control an operation of the robot, based on the orientation change data and the position change data.

A method of correcting a teaching position of a robot when an arrangement of a workpiece with respect to the robot changes, by using an index arranged at a predetermined position with respect to the workpiece, the method comprising:

• acquiring first position data of the robot when a hand-tip portion of the robot is arranged in a predetermined positional relationship with the index in a state where the hand-tip portion is arranged at a first orientation, before change of the arrangement of the workpiece;
• acquiring second position data of the robot when the hand-tip portion is arranged in the predetermined positional relationship with the index in the state where the hand-tip portion is arranged at the first orientation, after the change of the arrangement of the workpiece, the second position data being different from the first position data;
• acquiring orientation change data indicating a change amount in an orientation of the workpiece with respect to the robot due to the change of the arrangement, based on the first position data and the second position data;
• acquiring third position data of the robot when the hand-tip portion is arranged in the predetermined positional relationship with the index in a state where the hand-tip portion is arranged at a second orientation which is corrected from the first orientation by using the orientation change data;
• acquiring position change data indicating a change amount in a position of the workpiece with respect to the robot due to the change of the arrangement, based on the first position data and the third position data;
• and
• controlling an operation of the robot, based on the orientation change data and the position change data.

A non-transitory computer-readable storage medium that stores a computer program for correcting a teaching position of a robot when an arrangement of a workpiece with respect to the robot changes, by using an index arranged at a predetermined position with respect to the workpiece, the computer program, when executed by a computer, causing the computer to execute:

• acquiring first position data of the robot when a hand-tip portion of the robot is arranged in a predetermined positional relationship with the index in a state where the hand-tip portion is arranged at a first orientation, before change of the arrangement of the workpiece;
• acquiring second position data of the robot when the hand-tip portion is arranged in the predetermined positional relationship with the index in the state where the hand-tip portion is arranged at the first orientation, after the change of the arrangement of the workpiece, the second position data being different from the first position data;
• acquiring orientation change data indicating a change amount in an orientation of the workpiece with respect to the robot due to the change of the arrangement, based on the first position data and the second position data;
• acquiring third position data of the robot when the hand-tip portion is arranged in the predetermined positional relationship with the index in a state where the hand-tip portion is arranged at a second orientation which is corrected from the first orientation by using the orientation change data;
• acquiring position change data indicating a change amount in a position of the workpiece with respect to the robot due to the change of the arrangement, based on the first position data and the third position data;
• and
• controlling an operation of the robot, based on the orientation change data and the position change data.