Robot teaching method and device

A robot teaching method for performing teaching for generating robotic motion data based on measurement of a work motion including an operation on an operation object by a hand of a teacher, the robotic motion data including a sequence of joint displacement as a motion of a robotic hand mechanism of a robot corresponding to the work motion, the robot teaching method comprising, as steps performed by a computer system:

• a step of acquiring a first measured pose obtained by measuring a time-series pose including a position and a posture of the operation object during the work motion;
• a step of acquiring a second measured pose obtained by measuring a time-series pose including a position and a posture of the hand of the teacher during the work motion;
• a step of detecting the operation on the operation object by the teacher;
• and
• a step of generating a teaching pose for generating the robotic motion data based on the first measured pose, the second measured pose, and the detected operation;
• and
• a step of controlling the motion of the robot based on the robotic motion data generated by the teaching pose;
• wherein the step of generating the teaching pose includes a step of acquiring, as set correction data, correction data representing an operation restriction related to an operation pose when the robotic hand mechanism performs the operation on the operation object;
• wherein the teaching pose is generated by using the correction data to correct measurement data near the operation in the first measured pose and the second measured pose so as to satisfy the operation restriction;
• and
• wherein the step of performing correction to satisfy the operation restriction includes
• a step of acquiring a time point reaching a boundary of a range of the operation restriction in the first measured pose and the second measured pose is reached, and
• a step of additionally correcting, by statistical processing or noise removal, a portion of measurement data temporally before and after a corrected portion of the measurement data including the operation pose.