Teaching program for robot, teaching device for robot, and teaching method for robot

Abstract

To provide a robot teaching program capable of intuitively and easily teaching the position of a robot in off-line teaching.SOLUTION: The robot teaching program 141 causes the computer to execute generation of the robot movement program 142 when the work section 3 performing work is moved by the robot 2, and acquisition of the relative position information 111 of the arbitrary position Wb with respect to the work section 3 based on the work section coordinate system with reference to the work section 3 and display of the acquired relative position information 111 on the display unit 11.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a robot teaching program, a robot teaching device, and a robot teaching method. [Background technology]

[0002] BACKGROUND ART A teaching device for a robot has been known in the past (see, for example, Patent Document 1).

[0003] The above-mentioned Patent Document 1 discloses a robot teaching device that performs offline teaching, in which the operation of a welding robot is taught in a virtual space on a computer. In this robot teaching device, the robot and workpiece are placed in the virtual space on the computer, and the position of the tip of the robot is specified by XYZ coordinates in the virtual space to teach the robot operation. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 4836458 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the robot teaching device described in Patent Document 1 teaches the robot's operation by specifying the robot's tip position using XYZ coordinates in virtual space, so the position of the workpiece and the position of the robot tip are each displayed using XYZ coordinates in virtual space. This makes it difficult for an operator to intuitively specify the position of the robot tip when adjusting the position of the robot tip relative to the position of the workpiece. This poses a problem in that it is difficult to intuitively and easily teach the robot's position in offline teaching.

[0006] This disclosure has been made to solve the above-mentioned problems, and aims to provide a robot teaching program, a robot teaching device, and a robot teaching method that enable intuitive and easy teaching of the robot's position in offline teaching. [Means for solving the problem]

[0007] A robot teaching program according to a first aspect of this disclosure causes a computer to generate a program for moving a robot when the robot moves a working unit that performs work, obtain relative position information of an arbitrary position with respect to the working unit based on a working unit coordinate system that uses the working unit as the reference, and display the obtained relative position information on a display unit.

[0008] In the robot teaching program according to the first aspect of this disclosure, as described above, relative position information of an arbitrary position with respect to the working unit is acquired based on a working unit coordinate system with the working unit as the reference, and the acquired relative position information is displayed on a display unit. Thus, since the relative position information of the arbitrary position with respect to the working unit is displayed on the display unit based on the working unit coordinate system with the working unit moved by the robot as the reference, the worker can intuitively grasp, while looking at the relative position information with the working unit as the reference, how far and in what direction the working unit should be moved relative to the arbitrary position. This makes it easy for the worker to teach the robot. As a result, the robot's position can be intuitively and easily taught in offline teaching.

[0009] A robot teaching device according to a second aspect of this disclosure includes a display unit, and a control unit that generates a program for moving the robot when the robot moves a working unit that performs work, acquires relative position information of an arbitrary position with respect to the working unit based on a working unit coordinate system based on the working unit, and controls the display unit to display the acquired relative position information.

[0010] As described above, a robot teaching device according to a second aspect of this disclosure includes a control unit that acquires relative position information of an arbitrary position with respect to the working unit based on a working unit coordinate system with the working unit as the reference and controls the display unit to display the acquired relative position information. This allows the display unit to display relative position information of the arbitrary position with respect to the working unit based on the working unit coordinate system with the working unit as the reference, which is moved by the robot. Therefore, while viewing the relative position information with the working unit as the reference, the worker can intuitively grasp in which direction and by how much the working unit should be moved relative to the arbitrary position. This allows the worker to easily perform robot teaching work. As a result, a robot teaching device can be provided that can intuitively and easily teach a robot position during offline teaching.

[0011] A robot teaching method according to a third aspect of this disclosure includes generating a program for the movement of the robot when the robot moves a working unit that performs work, obtaining relative position information of an arbitrary position with respect to the working unit based on a working unit coordinate system that uses the working unit as a reference, and displaying the obtained relative position information on a display unit.

[0012] In the robot teaching method according to a third aspect of this disclosure, as described above, relative position information of an arbitrary position with respect to the working unit is acquired based on a working unit coordinate system with the working unit as the reference, and the acquired relative position information is displayed on a display unit. Thus, since the relative position information of the arbitrary position with respect to the working unit is displayed on the display unit based on the working unit coordinate system with the working unit moved by the robot as the reference, the worker can intuitively grasp, while looking at the relative position information with the working unit as the reference, how far and in what direction the working unit should be moved relative to the arbitrary position. This makes it easy for the worker to teach the robot. As a result, a robot teaching method can be provided that enables intuitive and easy teaching of a robot's position in offline teaching. [Effects of the Invention]

[0013] According to the present disclosure, as described above, the position of a robot can be intuitively and easily taught in offline teaching. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 illustrates a robotic system according to one embodiment. [Figure 2] FIG. 10 is a diagram showing an example of a robot movement program generated by the robot teaching device according to the embodiment. [Figure 3] FIG. 10 is a diagram showing an example of display of relative position information of the robot teaching device according to the embodiment. [Figure 4] 10A and 10B are diagrams for explaining an object positioning function of a robot teaching device according to an embodiment. [Figure 5] 10A and 10B are diagrams for explaining an object placement function of a robot teaching device according to an embodiment. [Figure 6] 10A and 10B are diagrams for explaining an object alignment function of a robot teaching device according to an embodiment. [Figure 7] FIG. 10 is a diagram showing an example of a display of a program for moving a robot in the robot teaching device according to the embodiment. [Figure 8] 10A and 10B are diagrams showing examples of displays when a program for moving a robot of the robot teaching device according to the embodiment is played back; [Figure 9] 10 is a flowchart illustrating a relative position information display process of the robot teaching device according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, embodiments embodying the present disclosure will be described with reference to the drawings.

[0016] (Robot system configuration) The configuration of a robot system 100 according to one embodiment will be described with reference to Fig. 1 to Fig. 8. As shown in Fig. 1, the robot system 100 is a system for performing work using a robot 2. In this embodiment, the robot system 100 performs work on a workpiece W using the robot 2. The robot system 100 includes a robot teaching device 1 and a robot 2. The robot teaching device 1 is an example of a teaching device for a computer and a robot.

[0017] The robot teaching device 1 is a device for teaching the robot 2 offline how to move the working unit 3 that performs work. That is, the robot teaching device 1 executes a robot teaching program 141 to generate a robot movement program 142 for moving the working unit 3 that performs work by the robot 2. The robot teaching device 1 performs offline teaching, teaching the robot 2 how to move on a display screen through simulation without using an actual machine. That is, the robot teaching device 1 teaches the robot 2 how to move in a three-dimensional space in the simulation. The robot teaching device 1 is, for example, a personal computer. The robot teaching device 1 includes a display unit 11, an operation unit 12, a control unit 13, and a storage unit 14.

[0018] The display unit 11 includes a monitor such as a liquid crystal display or an organic EL display, and displays a screen. The display unit 11 also displays a three-dimensional virtual space for offline teaching and a robot teaching program 141 generated by the teaching. The three-dimensional virtual space displayed on the display unit 11 also displays items necessary for offline teaching, such as the robot 2a, working unit 3a, and workpiece Wa.

[0019] The operation unit 12 includes input devices such as a mouse and a keyboard, and accepts input operations from the operator. The operation unit 12 may also be a teaching input device such as a teach pendant used when teaching using an actual robot 2. The operation unit 12 accepts input operations from the operator in offline teaching.

[0020] The control unit 13 includes a processor such as a CPU that performs processing, and a memory such as a RAM. The control unit 13 performs various processes in the robot teaching device 1. The control unit 13 executes a robot teaching program 141 to teach the robot 2 its movements offline.

[0021] The storage unit 14 includes a non-volatile memory such as an HDD or SSD. The storage unit 14 also stores a robot teaching program 141. The storage unit 14 also stores a generated robot movement program 142.

[0022] The robot 2 moves the working unit 3 to actually perform work on the workpiece W. The robot 2 is a vertical articulated robot and includes an arm unit 21. The arm unit 21 has multiple joints. For example, the arm unit 21 has six or more joints. The working unit 3 is attached to the tip of the arm unit 21. The robot 2 moves the working unit 3 relative to the workpiece W by driving the multiple joints of the arm unit 21.

[0023] The working unit 3 performs work on the workpiece W. The working unit 3 includes, for example, a welding unit that performs welding. The working unit 3 also includes, for example, a painting unit that performs spray painting.

[0024] (offline teaching) The control unit 13 executes a robot teaching program 141 stored in the memory unit 14 to perform offline teaching through simulation. The control unit 13 performs offline teaching by moving the robot 2a and working unit 3a, which are arranged in a three-dimensional virtual space, relative to the workpiece Wa. The control unit 13 displays an offline teaching screen on the display unit 11. The control unit 13 receives teaching of teaching points for the operation of the robot 2a and a movement path defined by the teaching points, based on input operations by the worker using the operation unit 12.

[0025] Furthermore, the control unit 13 generates a robot movement program 142 based on instructions input by the worker. That is, the control unit 13 generates the robot movement program 142 when the working unit 3 that performs the work is moved by the robot 2. In the robot movement program 142, commands are defined for each line, as shown in FIG.

[0026] In offline teaching, the control unit 13 acquires a three-dimensional virtual space in which the robot 2a to be taught is located. Specifically, if a three-dimensional virtual space in which the robot 2a and the workpiece Wa to be worked on are located has been created in advance, the control unit 13 reads the created data from the storage unit 14. Furthermore, if a new three-dimensional virtual space in which the robot 2a and the workpiece Wa to be worked on are located is to be created, the control unit 13 creates the three-dimensional virtual space in which the robot 2a and the workpiece Wa to be worked on are located based on the operator's operation. In other words, the robot teaching program 141 can read a created three-dimensional virtual space, create a new three-dimensional virtual space, and edit a created three-dimensional virtual space.

[0027] In offline teaching, the control unit 13 receives instructions for the position or movement path of the working unit 3a or robot 2a from the worker via the operation unit 12 in a three-dimensional virtual space in which the robot 2a and the workpiece Wa to be worked on are arranged, and generates a teaching program 141 for the robot.

[0028] 3 , control unit 13 acquires relative position information 111 of an arbitrary position Wb with respect to working unit 3a based on a working unit coordinate system with working unit 3a as the reference, and displays the acquired relative position information 111 on display unit 11. Specifically, when a function for displaying relative position information 111 is selected by an operator during offline teaching, control unit 13 accepts designation of arbitrary position Wb. Then, control unit 13 displays relative position information 111 of the designated arbitrary position Wb with respect to working unit 3a on display unit 11.

[0029] Here, in offline teaching, three-dimensional coordinates are defined in a three-dimensional virtual space by a world coordinate system (WX, WY, WZ) as shown in Figure 3. The world coordinate system is expressed with an origin (0,0,0) set in the three-dimensional virtual space as the base, with one horizontal direction as the WX direction, a direction perpendicular to the horizontal WX direction as the WY direction, and the up and down direction as the WZ direction.

[0030] Furthermore, in offline teaching, as shown in Figure 3, the working unit coordinate system (TX,TY,TZ) is defined with the working unit 3a as the reference. The working unit coordinate system is expressed with the origin (0,0,0) set at the tip 3b of the working unit 3a as the reference, the direction in which the working unit 3a extends as the TZ direction, one direction perpendicular to the TZ direction as the TX direction, and the direction perpendicular to both the TZ direction and the TX direction as the TY direction. In other words, the relationship of the working unit coordinate system with the world coordinate system changes as the tip 3b of the working unit 3a moves or rotates.

[0031] Relative position information 111 is acquired based on the working unit coordinate system. Specifically, relative position information 111 includes three-dimensional coordinate information of an arbitrary position Wb relative to working unit 3a based on the working unit coordinate system. The three-dimensional coordinate information of the arbitrary position Wb relative to working unit 3a is the arbitrary position Wb expressed in the working unit coordinate system (TX, TY, TZ). Furthermore, the values ​​of each directional component of relative position information 111 are displayed together with arrows in the three-dimensional virtual space. Furthermore, the information of each directional component of relative position information 111 is displayed in a different color.

[0032] Furthermore, relative position information 111 includes the distance from working unit 3a to arbitrary position Wb based on the working unit coordinate system. When arbitrary position Wb is expressed in the working unit coordinate system (TX,TY,TZ), the distance from working unit 3a to arbitrary position Wb based on the working unit coordinate system is expressed as √(TX 2 +TY 2 +TZ 2) The value of the distance from working unit 3a to arbitrary position Wb is displayed with an arrow in the three-dimensional virtual space. The information on the distance from working unit 3a to arbitrary position Wb is displayed in a color different from the information on each directional component of relative position information 111.

[0033] Furthermore, the relative position information 111 includes information about the relative position to an arbitrary position Wb in a working unit coordinate system based on the tip 3b of the working unit 3a.

[0034] The arbitrary position Wb is received through an operation by the worker. For example, the arbitrary position Wb is a position on the workpiece Wa where the working unit 3a performs the work.

[0035] The control unit 13 receives a point in the three-dimensional virtual space through operation by the worker and sets it as an arbitrary position Wb. The control unit 13 also receives a selection of a workpiece Wa through operation by the worker and sets it as an arbitrary position Wb. When selecting the workpiece Wa, it is possible to select a point such as a vertex of the workpiece Wa or a point on its surface, a line segment such as an edge of the workpiece Wa, a face such as the surface of the workpiece Wa, or a three-dimensional object which is the entire workpiece Wa.

[0036] Furthermore, the control unit 13 sets the center position of the selected workpiece Wa and the closest position from the tip 3b of the working unit 3a as the arbitrary position Wb. That is, the control unit 13 can display the relative position between the centers of the working unit 3a and the workpiece Wa and the relative position of the shortest distance between the working unit 3a and the workpiece Wa as relative position information 111 of the arbitrary position Wb with respect to the working unit 3a. The control unit 13 may display both the relative position between the centers of the working unit 3a and the workpiece Wa and the relative position of the shortest distance between the working unit 3a and the workpiece Wa as the relative position information 111, or may display either one at the operator's discretion.

[0037] Furthermore, in offline teaching, when placing objects such as the robot 2a and the workpiece Wa in a three-dimensional virtual space, the control unit 13 selects one object and moves the other object so that the objects come into contact with each other. Specifically, the control unit 13 accepts the selection of a face of one object, accepts the selection of a face of another object, and moves the other object so that the face of the other object comes into contact with the face of the accepted one object.

[0038] 4, when adjusting the position of the robot 2a so that the robot 2a is placed on a pedestal 4a, the control unit 13 receives a selection of the installation surface of the pedestal 4a and a selection of the bottom surface of the robot 2a, and moves the robot 2a onto the pedestal 4a. This makes it possible to easily adjust the positions of objects in a three-dimensional virtual space where offline teaching is performed.

[0039] Furthermore, the control unit 13 may adjust the position of an object by accepting a selection other than a surface of the object. For example, the control unit 13 may adjust the position of the object by accepting a selection of a line, a point, or the center of a circle of the object.

[0040] For example, the control unit 13 receives the selection of the tip of the robot 2a and adjusts the position of the working unit 3a so that the working unit 3a is attached to the tip position of the robot 2a.

[0041] Furthermore, when placing objects such as the robot 2a and the workpiece Wa in a three-dimensional virtual space during offline teaching, the control unit 13 places the objects in the three-dimensional virtual space based on two-dimensional layout data of the objects and three-dimensional shape data of the objects. For example, as shown in FIG. 5, the two-dimensional layout data includes a plan view of the object placement. The three-dimensional shape data includes data on the three-dimensional shape of the objects. The control unit 13 then places objects P2, P3, and P4 in the positions corresponding to the two-dimensional layout data, thereby placing the objects in the three-dimensional virtual space.

[0042] Furthermore, when placing objects such as the robot 2a and the workpiece Wa in a three-dimensional virtual space during offline teaching, the control unit 13 moves the objects so that the objects are aligned with each other. For example, as shown in Fig. 6, the control unit 13 accepts the selection of a face of one object P5, accepts the selection of a face of another object P6, and moves the other object P6 so that the face of the other object P6 is aligned with the face of the accepted one object P5.

[0043] Furthermore, the control unit 13 accepts the worker's selection from among the multiple robot movement programs 142 generated in offline teaching, and displays the selected robot movement program 142. For example, as shown in Fig. 7, the multiple robot movement programs 142 generated are displayed on the display unit 11 by a program list display 112. Furthermore, the selected robot movement program 142 is displayed on the display unit 11 by a display 113.

[0044] Furthermore, the control unit 13 plays the selected robot movement program 142. When the robot movement program 142 is played, the robot 2a moves in the three-dimensional virtual space.

[0045] Furthermore, when a predetermined command portion of the robot movement program 142 is selected, the control unit 13 changes the posture of the robot 2a in the three-dimensional virtual space displayed on the display unit 11 based on the selected predetermined command portion. For example, the predetermined command portion is a command portion for moving the robot 2a. Furthermore, based on the selected predetermined command portion, the control unit 13 changes the posture of the robot 2a displayed on the display unit 11 to the posture of the robot 2a in a state where it has been moved by the command portion for moving the robot 2a.

[0046] Furthermore, the command portion for moving the robot 2a contains information regarding the position of the robot 2a. When a predetermined command portion of the program 142 for moving the robot is selected, the control unit 13 changes the posture of the robot 2a displayed on the display unit 11 based on the information regarding the position of the robot 2a to the posture of the robot 2a in a state where it has been moved by the command portion for moving the robot 2a.

[0047] In addition, when a predetermined command portion of the robot movement program 142 is selected, the control unit 13 changes the posture of the robot 2a displayed on the display unit 11 based on the predetermined command portion without executing other command portions up to the predetermined command portion.

[0048] The robot movement program 142 is in line format, and a predetermined command portion is a predetermined line.

[0049] Furthermore, when the control unit 13 causes the robot 2a displayed on the display unit 11 to perform an action based on the robot movement program 142, the control unit 13 emphasizes the command portion currently being executed in the robot movement program 142 displayed on the display unit 11. For example, as shown in Fig. 8, the control unit 13 highlights the command portion currently being executed by highlighting it with a highlight 113a in the display 113 of the robot movement program 142.

[0050] (Relative position information display processing in offline teaching) With reference to FIG. 9, a relative position information display process in offline teaching using the robot teaching device 1 of this embodiment will be described based on a flowchart.

[0051] 9, first, in step S1, the control unit 13 accepts an arbitrary position Wb on the workpiece Wa. Specifically, the control unit 13 accepts a selection of an arbitrary position Wb on the workpiece Wa in the three-dimensional virtual space by the operator operating the operation unit 12.

[0052] In step S2, control unit 13 calculates relative position information from working unit 3a to arbitrary position Wb in the working unit coordinate system. Specifically, control unit 13 calculates three-dimensional coordinate information of arbitrary position Wb relative to working unit 3a based on the working unit coordinate system, and the distance from working unit 3a to arbitrary position Wb based on the working unit coordinate system.

[0053] In step S3, the control unit 13 displays the calculated relative position information on the display unit 11.

[0054] (Effects of this embodiment) In this embodiment, as described above, relative position information 111 of an arbitrary position Wb with respect to the working unit 3a is acquired based on a working unit coordinate system with the working unit 3a as the reference, and the acquired relative position information 111 is displayed on the display unit 11. Thus, the relative position information 111 of the arbitrary position Wb with respect to the working unit 3a based on the working unit coordinate system with the working unit 3a moved by the robot 2a as the reference is displayed on the display unit 11. Therefore, while viewing the relative position information 111 with the working unit 3a as the reference, the worker can intuitively grasp in which direction and by how much the working unit 3a should be moved with respect to the arbitrary position Wb. This allows the worker to easily perform robot teaching work. As a result, the position of the robot 2a can be intuitively and easily taught in offline teaching.

[0055] Furthermore, in this embodiment, as described above, the relative position information 111 includes three-dimensional coordinate information of the arbitrary position Wb relative to the working unit 3a based on the working unit coordinate system. As a result, the three-dimensional coordinate information of the arbitrary position Wb relative to the working unit 3a, based on the working unit coordinate system that uses the working unit 3a moved by the robot 2a as its reference, is displayed on the display unit 11. Therefore, the worker can more intuitively grasp in which direction and by how much to move the working unit 3a relative to the arbitrary position Wb while looking at the three-dimensional coordinate information based on the working unit 3a.

[0056] Furthermore, in this embodiment, as described above, the relative position information 111 includes the distance from working unit 3a to arbitrary position Wb based on the working unit coordinate system. As a result, the distance from working unit 3a to arbitrary position Wb based on the working unit coordinate system that uses working unit 3a moved by robot 2a as the reference is displayed on display unit 11. Therefore, the worker can more intuitively grasp how far to move working unit 3a relative to arbitrary position Wb while looking at the distance based on working unit 3a.

[0057] Furthermore, in this embodiment, as described above, the relative position information 111 includes information on the relative position to the arbitrary position Wb in the working unit coordinate system based on the tip 3b of the working unit 3a. This makes it possible to display the arbitrary position Wb relative to the tip 3b of the working unit 3a using the relative position information 111 based on the working unit coordinate system, allowing the worker to more intuitively grasp in which direction and by how much the tip 3b of the working unit 3a should be moved relative to the arbitrary position Wb.

[0058] Furthermore, in this embodiment, as described above, the working unit 3a includes a welding unit that performs welding or a painting unit that performs spray painting. As a result, when welding is performed by the welding unit serving as the working unit 3a, by setting an arbitrary position Wb on the workpiece W, the robot 2a can intuitively and easily teach a welding work position so that the welding unit can easily approach the workpiece W while checking the relative position information 111 displayed on the display unit 11. When spray painting is performed by the painting unit serving as the working unit 3a, by setting an arbitrary position Wb on the workpiece W, the robot 2a can intuitively and easily teach a painting work position so that the painting unit can be moved a predetermined distance away from the workpiece W while checking the relative position information 111 displayed on the display unit 11.

[0059] In this embodiment, as described above, an arbitrary position Wb is accepted through an operation by the worker. This allows the worker to freely select and set the arbitrary position Wb, and the arbitrary position Wb set by the worker can be displayed on the display unit 11 using relative position information 111 based on the working unit coordinate system.

[0060] Furthermore, in this embodiment, as described above, the arbitrary position Wb is a position on the workpiece W where work is performed by the working unit 3a. This allows the arbitrary position Wb on the workpiece W to be displayed on the display unit 11 using relative position information 111 based on the working unit coordinate system.

[0061] (Variation) It should be noted that the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present disclosure is defined by the claims, not by the description of the above-mentioned embodiments, and further includes all modifications (variations) within the meaning and scope equivalent to the claims.

[0062] For example, in the above embodiment, an example was shown in which the robot was a vertical articulated robot, but the present disclosure is not limited to this. In the present disclosure, the robot may be a robot other than a vertical articulated robot. For example, the robot may be a horizontal articulated robot or a parallel link robot.

[0063] In addition, in the above embodiment, an example was shown in which the arbitrary position where the relative position information is displayed is a position on a workpiece, but the present disclosure is not limited to this. In the present disclosure, the arbitrary position where the relative position information is displayed does not have to be a position on the workpiece. For example, the arbitrary position may be the position of an object other than the workpiece on which work is being performed, or the arbitrary position may be a position separated from the object.

[0064] In the above embodiment, the coordinates of the relative position information are expressed in a Cartesian coordinate system having three mutually orthogonal coordinate axes, but the present disclosure is not limited to this. In the present disclosure, the coordinates of the relative position information may be expressed in a cylindrical coordinate system having a radial direction, an axial direction, and a deflection angle, or may be expressed in a spherical coordinate system having a radial direction and two deflection angles.

[0065] Furthermore, in the above-described embodiment, an example was shown in which the working unit was a welding unit or a painting unit, but the present disclosure is not limited to this. In the present disclosure, the working unit may be something other than a welding unit or a painting unit. For example, the working unit may be an imaging unit, or a polishing unit that performs polishing. Furthermore, the working unit may be an irradiation unit that irradiates light or X-rays, or a hand or suction unit that holds an object.

[0066] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, application-specific integrated circuits (ASICs), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor.

[0067] [Aspect] It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0068] (Aspect 1) generating a program for the movement of the robot when the working unit that performs the work is moved by the robot; and acquiring relative position information of an arbitrary position with respect to the working unit based on a working unit coordinate system that uses the working unit as a reference, and displaying the acquired relative position information on a display unit.

[0069] (Aspect 2) 2. A robot teaching program according to claim 1, wherein the relative position information includes three-dimensional coordinate information of the arbitrary position relative to the working unit based on the working unit coordinate system.

[0070] (Aspect 3) 3. The robot teaching program according to aspect 1 or 2, wherein the relative position information includes a distance from the working unit to the arbitrary position based on the working unit coordinate system.

[0071] (Aspect 4) A teaching program for a robot according to any one of aspects 1 to 3, wherein the relative position information includes information regarding the relative position to the arbitrary position in the working unit coordinate system based on the tip of the working unit.

[0072] (Aspect 5) A teaching program for a robot according to any one of aspects 1 to 4, wherein the working unit includes a welding unit that performs welding or a painting unit that performs spray painting.

[0073] (Aspect 6) Aspect 6. The robot teaching program according to any one of aspects 1 to 5, further causing the computer to accept the arbitrary position through an operation by an operator.

[0074] (Aspect 7) 7. The robot teaching program according to any one of aspects 1 to 6, wherein the arbitrary position is a position on a workpiece where work is performed by the working unit.

[0075] (Aspect 8) A display unit; a control unit that generates a program for moving a robot when a working unit that performs work is moved by the robot, acquires relative position information of an arbitrary position with respect to the working unit based on a working unit coordinate system that uses the working unit as a reference, and controls the display of the acquired relative position information on the display unit.

[0076] (Aspect 9) generating a program for the movement of the robot when the working unit that performs the work is moved by the robot; A robot teaching method comprising: acquiring relative position information of an arbitrary position with respect to the working unit based on a working unit coordinate system that uses the working unit as a reference; and displaying the acquired relative position information on a display unit. [Explanation of symbols]

[0077] 1. Robot teaching device (computer, robot teaching device) 2, 2a Robot 3, 3a Working section 11 Display section 13 Control Unit 111 Relative location information 141 Robot teaching program 142 Robot movement program W, Wa Work Wb Any position

Claims

1. generating a program for the movement of the robot when the working unit that performs the work is moved by the robot; and acquiring relative position information of an arbitrary position with respect to the working unit based on a working unit coordinate system that uses the working unit as a reference, and displaying the acquired relative position information on a display unit.

2. The robot teaching program according to claim 1 , wherein the relative position information includes three-dimensional coordinate information of the arbitrary position with respect to the working unit based on the working unit coordinate system.

3. The robot teaching program according to claim 1 , wherein the relative position information includes a distance from the working unit to the arbitrary position based on the working unit coordinate system.

4. The robot teaching program according to claim 1 , wherein the relative position information includes information about a relative position to the arbitrary position in the working unit coordinate system with the tip of the working unit as a reference.

5. The robot teaching program according to claim 1 , wherein the working unit includes a welding unit that performs welding or a painting unit that performs spray painting.

6. The robot teaching program according to claim 1 , further causing the computer to receive the arbitrary position through an operation by an operator.

7. 2. The robot teaching program according to claim 1, wherein the arbitrary position is a position on a workpiece where the working unit performs work.

8. A display unit; a control unit that generates a program for moving a robot when a working unit that performs work is moved by the robot, acquires relative position information of an arbitrary position with respect to the working unit based on a working unit coordinate system that uses the working unit as a reference, and controls the display of the acquired relative position information on the display unit.

9. generating a program for the movement of the robot when the working unit that performs the work is moved by the robot; A robot teaching method comprising: acquiring relative position information of an arbitrary position with respect to the working unit based on a working unit coordinate system that uses the working unit as a reference; and displaying the acquired relative position information on a display unit.

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