Method and system for teaching robot
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsYoshinori KEGASA, Takehiko MURATA
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Abstract
A robot teaching system includes a teaching unit and a robot including a robotic arm and a robot controller. In the robot teaching system, a workpiece includes an internal space having an opening, and a target object of a work by the end effector exists in the internal space. The robot controller determines a possibility that the arm part interferes with an edge of the opening while the robotic arm is jogging or inching.
Claims12
A method of teaching a robot including a robotic arm and a robot controller, the robotic arm being provided with an end effector at a tip-end part of an arm part of the robotic arm, and the robot controller controlling operation of the robotic arm and setting a teach point according to operation of a teaching unit,
- wherein a workpiece includes an internal space having an opening, and a target object of a work by the end effector exists in the internal space,
- the method comprising the step of:
- causing the robotic arm to perform one of jogging and inching by a jogging operation or an inching operation of the teaching unit, and determining by the robot controller a possibility that the arm part interferes with an edge of the opening while the robotic arm is jogging or inching.
A system of teaching a robot, comprising:
- a teaching unit;
- and
- a robot including a robotic arm and a robot controller, the robotic arm being provided with an end effector at a tip-end part of an arm part of the robotic arm, and the robot controller controlling operation of the robotic arm and setting a teach point according to operation of the teaching unit,
- wherein a workpiece includes an internal space having an opening, and a target object of a work by the end effector exists in the internal space, the robot controller executes:
- causing the robotic arm to perform one of jogging and inching according to a jogging operation or an inching operation to the teaching unit, and determining a possibility that the arm part interferes with an edge of the opening while the robotic arm is jogging or inching.
Dependencies are inferred from the claim text.