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Teaching method

A teaching method and coordinate system technology, which is applied in the direction of instruments, manipulators, recording and playback systems, etc., can solve the problems of unacquired robot correspondence, different robots, etc.

Active Publication Date: 2021-09-28
SEIKO EPSON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] However, in the method described in Patent Document 1, since the posture of the robot is set based on the coordinate system set in the three-dimensional data, correspondence with the coordinate system set in the robot is not acquired.
Therefore, the set posture of the robot may differ from the desired posture

Method used

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Experimental program
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no. 1 approach

[0023] figure 1 It is a figure showing the overall configuration of the robot system of the first embodiment. figure 2 for figure 1 A block diagram of the robotic system is shown. image 3 It is a schematic diagram showing the model of the robot by the simulation software. Figure 4 It is a schematic diagram showing the model of the work object by the simulation software. Figure 5 It is a schematic diagram when the model of the work object and the model of the robot are displayed together by the simulation software, and is a diagram showing an unfavorable posture of the robot. Figure 6 It is a schematic diagram when the model of the work object and the model of the robot are displayed together by the simulation software, and is a diagram showing a preferred posture of the robot. Figure 7 It is a schematic diagram when the model of the work object is displayed by the simulation software, and is a diagram showing a state in which the work route is set. Figure 8 It is a...

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Abstract

The invention provides a teaching method capable of performing good teaching using three-dimensional data. The teaching method of teaching a position of a control point on a working route through which the control point set on a robot arm passes when the robot arm performs work and a posture of the robot arm using three-dimensional data of a working object, includes a first step of setting a predetermined first work point on the working route based on the three-dimensional data, and a second step of associating a first coordinate system set for the first work point with a second coordinate system set for the robot arm when the control point is located at the first work point, wherein, at the second step, one is selected from a plurality of candidates of the first coordinate system at the first work point, and the selected coordinate system is set as a first correction coordinate system for the first work point.

Description

technical field [0001] The invention relates to a teaching method. Background technique [0002] There is known a robot that has a robot arm with an end effector attached to its tip, and that performs predetermined work on a workpiece by driving the robot arm. In such a robot, for example, as described in Patent Document 1, a tool passing point, which is a target position where the tip of an end effector passes, is set on the surface of a workpiece. Then, drive the robotic arm so that the tip of the end effector passes the tool pass point. [0003] In addition, Patent Document 1 discloses a method of setting grid-like grid points on the surface of the workpiece in three-dimensional data of the workpiece, and setting each grid point as a tool passing point. In addition, by setting the order of movement for each tool passing point, the working path of the robot arm is generated. [0004] Patent Document 1: Japanese Patent Application Laid-Open No. 8-85083 [0005] However,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1602B25J9/1633B25J9/1656G05B19/42G05B2219/36492G05B2219/49113B25J9/1692
Inventor 奥山正幸
Owner SEIKO EPSON CORP
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