Off-line teaching method for correcting robot model by revising teaching data on basis of difference between actual and target position

An off-line teaching method for correcting robot models to be used in an off-line teaching system, comprising:

• a first step of performing multi-point multi-attitude teaching capable of obtaining the best correcting calculation result of those obtained with a logical robot model as a correction objective, by using an off-line teaching apparatus;
• said first step including the following steps:
• an error model-preparing step of preparing an error model corresponding to a model of said actual robot;
• a teaching step of performing said multi-point multi-attitude teaching by using said off-line teaching apparatus;
• an estimating calculation step of estimating and calculating said correction amount by using teaching data obtained in said teaching step;
• a comparing step of comparing a calculation result obtained in said estimating calculation step with said error model obtained in said error model-preparing step;
• and
• a judging step of returning to said teaching step if a result of said comparison obtained in said comparing step does not satisfy a predetermined condition, or completing said first step if said result of said comparison satisfies said predetermined condition;
• a second step of downloading teaching data obtained in said first step from said off-line teaching apparatus to an actual robot as a correction objective;
• a third step of revising said teaching data on the basis of a difference between an actual target point and an operation point of said actual robot based on said teaching data;
• and
• a fourth step of uploading teaching data obtained after said revision to said off-line teaching apparatus to estimate and calculate a correction amount by using said uploaded data.