Robot control device

Abstract

The invention provides a robot control device which records a teaching point at an appropriate position or timing when teaching data is generated. A robot control device (100) is provided with a teaching information recording unit (110), a robot information acquisition unit (120), a recording necessity determination unit (130), and a control unit (140). The teaching information recording unit (110) records teaching information including at least one of a position and a posture of a robot at a plurality of teaching points. The robot information acquisition unit (120) acquires information relating to at least one of the current position and posture of the robot. A recording necessity determination unit (130) determines whether or not to record at least one of the current position and posture of the robot as teaching information at a teaching point on the basis of the operation of the robot. When it is determined that recording is performed as teaching information, the control unit (140) performs control to record at least one of the current position and posture of the robot in the teaching information recording unit (110) as teaching information at the teaching point.

Description

technical field [0001] The present invention relates to a robot control device. Background technique [0002] In recent years, many robots have become popular in the industrial world. This robot is used, for example, in assembly, welding, and conveyance of electronic components and mechanical components, and is aimed at increasing the efficiency and automation of production lines in factories. Such a robot needs to create a program for performing a desired operation and record it in advance as so-called teaching data. [0003] This teaching data is generated by the operator operating the actual robot using the teaching pendant and recording the motion. For example, if the operator records teaching information at a plurality of teaching points and generates teaching data, the robot operates according to the teaching data to move between the plurality of teaching points. [0004] Patent Document 1 discloses a technique for simplifying teaching work as a direct teaching meth...

AI Technical Summary

Problems solved by technology

[0008] However, although the robot operates according to the taught position and posture at the recorded teaching points, the operator may follow an unexpected movement trajectory during the movement between the teaching points. Interfering objects cannot be avoided during movement between points

In other words, when the operator generates the teaching data, he needs to estimate the movement trajectory of the robot between the teaching points and record the teaching points at an appropriate position, which is highly dependent on the skills of the operator.

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