Parallel link robot and its action teaching method

Abstract

The present invention relates to a parallel connecting rod robot and a movement teaching method thereof. The direct teaching method is intuitive and easy to understand as a method of teaching, but the operation of a user is copied unchangeably, so sometimes parallel six-freedom robot cannot implement action are being copied. Users in order to determine whether the teaching action for can be implemented by parallel six-freedom robot movement, repeat teaching and reappearance, which often takes time. Parallel connecting rod of the present invention robot teaching methods made directly by the user at the movable plate parallel six-freedom robot action first teaching and teaching action, as described in parallel six-freedom robot based power sources more than allowed by the torque motor that allowed torque and / or described in the more than the speed of the motor is allowed to allowing speed, pre-determined decision value is allowed, allowed to determine value based on the stated, determine whether described by parallel six-freedom robot action implementation described the first teaching action.

Description

technical field [0001] The present invention relates to the control of robots mainly for industrial use. In particular, the present invention relates to a parallel link robot (parallel link robot) having a structure in which a fixed plate on which the robot is fixed and a movable plate on which active components such as an end-effector are installed are connected through a plurality of arms. link between. Background technique [0002] As an example of a parallel link robot having a structure in which a fixed plate of a stationary robot is connected to a movable plate on which an active part such as an end effector is mounted via a plurality of arms, there is a parallel link robot disclosed in Patent Document 1. . The parallel link robot disclosed in Patent Document 1 such as Figure 11 As shown, it has: a fixed plate 2, which fixes the parallel link robot 1; a movable plate 3, which is equipped with active parts such as an end effector 8; and an arm 4 and a rod 7, which co...

AI Technical Summary

Problems solved by technology

[0005] However, in the above-mentioned direct teaching method of the parallel link robot, although it is an intuitive and easy-to-understand teaching method, the user's operation is copied as it is, so the movement that cannot be realized by the parallel link robot may also be copied.

In order to confirm that the taught motion is a motion that can be realized by the parallel link robot, the user repeats the teaching and reproduction, so it often takes time to teach the motion that the parallel link robot can realize.

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