Teaching device
AssigneeFanuc Corporation
InventorsKunihiko HARADA, Yuelai WANG, Yasuhiro NAITOU
Life of this patent
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Abstract
A teaching device for teaching a robot includes: a storage unit that stores mechanism data for finding a relationship between a tip position of a robot and an angle position at a joint portion of the robot, the mechanism data including a mechanism error parameter of an actual robot; and a virtual robot control unit that controls the operation of a virtual robot on the basis of the mechanism data such that an error in position that occurs in the actual robot due to the mechanism error parameter occurs in the virtual robot.
Claims29
A teaching device for performing teaching of a robot, the teaching device comprising:
- a storage unit configured to store mechanism data being used for obtaining a relationship between an angle position in a joint portion of a robot and a tip position of the robot and including a mechanism error parameter of an actual robot;
- and
- a virtual robot control unit configured to control a motion of a virtual robot, based on the mechanism data, in such a way that an error of a position occurring in the actual robot by the mechanism error parameter is caused in the virtual robot.
A teaching device for performing teaching of a robot, the teaching device comprising:
- a storage unit configured to store mechanism data being used for obtaining a relationship between an angle position in a joint portion of a robot and a tip position of the robot and including a mechanism error parameter of an actual robot, and to store a motion program;
- a conversion unit configured to convert position data in the motion program in such a way that, in a case where the mechanism data are not applied to an actual robot, the actual robot reaches the same position as a position reached when the mechanism data are applied, or in such a way that, in a case where the mechanism data are applied to an actual robot, the actual robot reaches the same position as a position reached when the mechanism data are not applied;
- and
- an association unit configured to estimate data needed for conversion of the position data, and associate the data with the position data for the conversion.
Dependencies are inferred from the claim text.