Teaching device for performing robot teaching operations and teaching method
AssigneeFanuc Corporation
InventorTakashi SATOU
Life of this patent
Estimating the term…
Abstract
A teaching device for performing teaching operations of a robot includes a selection unit which, during a teaching operation or after a teaching operation of the robot, moves among a plurality of lines of a program of the robot and selects a single line, an error calculation unit which calculates, after the robot has been moved by hand-guiding or jog-feeding to a teaching point which has already been taught in the selected single line, a position error between the teaching point and a position of the robot after movement, and an instruction unit which instructs to re-teach the teaching point when the position error is within a predetermined range.
Claims8
A teaching device for performing teaching operations of a robot, which performs operations on a workpiece, comprising:
- a selection unit which, during a teaching operation or after a teaching operation of the robot, moves among a plurality of lines of a program of the robot and selects a single line,
- an error calculation unit which calculates, after the robot has been moved by hand-guiding or jog-feeding to a teaching point which has already been taught in the selected single line, at least one of a position error between the teaching point and a position of the robot after movement and an orientation error between an orientation of the tool of the robot at the teaching point and the orientation of the tool of the robot after movement, and
- an instruction unit which instructs to re-teach the teaching point when at least one of the position error and the orientation error is within a respective predetermined range.
A teaching method for performing teaching operations of a robot which performs operations on a workpiece, comprising steps of:
- moving, during a teaching operation or after a teaching operation of the robot, between a plurality of lines of a program of the robot and selecting a single line,
- calculating, after the robot has been moved by hand-guiding or jog-feeding to a teaching point which has already been taught in the selected single line, at least one of a position error between the teaching point and a position of the robot after movement and an orientation error between an orientation of the tool of the robot at the teaching point and the orientation of the tool of the robot after movement, and
- re-teaching the teaching point when at least one of the position error and the orientation error is within a respective predetermined range.
Dependencies are inferred from the claim text.