Robot teaching device and work teaching method

A work teaching method for teaching work to a robot configured to hold and move a held object with a plurality of holding portions, the work teaching method comprising:

• a teaching pose measurement step of measuring and/or calculating a teaching pose that is a pose of a first held object held by a teacher during teaching work;
• a holding portion pose calculation step of calculating a pose of a holding portion of the robot that holds a second held object based on data on the pose of the first held object;
• a robot operation generation step of searching for a solution of joint displacement that does not cause interference with a surrounding structure within a movable range of the robot and generating a joint displacement sequence executable by the robot by calculating a joint displacement sequence of the robot as a solution of inverse kinematics calculation based on data on the pose of the holding portion, and in a case where joint displacement of the robot exceeds the movable range at that time, or in a case where interference occurs between the robot and the surrounding structure when the robot is driven according to the calculated joint displacement sequence, changing at least one of
• a pose to be taken by the second held object,
• displacement of another joint that is not a driving target when it is determined that the movable range is exceeded or the interference occurs, or
• a position of a pedestal on which the robot is mounted,
• while maintaining a relationship of relative positions and relative postures between the holding portions;
• a work scenario editing step of, treating the joint displacement sequence as a unit operation of the robot for a certain period of time, describing a series of work including at least one unit operation as a work scenario, and in a case of selecting a unit operation of the robot and adding and connecting the selected unit operation as a unit operation continuous with a certain unit operation in the work scenario, when a pose of the holding portion of the robot in the unit operation in the series of work does not match a pose of the holding portion of the robot in the unit operation to be added, generating a joint displacement sequence of the robot for continuously interpolating between these poses without causing interference with the surrounding structure within the movable range of the robot, and inserting the interpolation operation into the work scenario;
• a work scenario execution step of sequentially interpreting and executing the work scenarios;
• and
• a robot joint axis control step of performing drive control on a joint axis of the robot according to the work scenarios.

A robot teaching device for teaching work to a robot configured to hold and move a held object, the robot teaching device comprising:

• a teaching pose measurement unit configured to measure and/or calculate a teaching pose that is a pose of a first held object held by a teacher during teaching work;
• a robot operation generation unit configured to generate a joint displacement sequence of the robot such that a pose of a second held object held by the robot becomes the same pose as the teaching pose;
• and
• a display unit configured to display a trajectory of a holding portion of the robot according to the sequence generated by the robot operation generation unit, wherein
• the display unit is configured to display a position on the trajectory, the position exceeding a movable range of the robot or causing interference with a surrounding structure, and
• the robot operation generation unit is configured to display a countermeasure that is within the movable range and enables avoiding of the interference, and to allow a user to select the countermeasure.