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Title:
METHOD FOR TEACHING ROBOT AND DEVICE FOR CONTROLLING ROBOT ARM
Document Type and Number:
WIPO Patent Application WO/2017/064851
Kind Code:
A1
Abstract:
In direct teaching of a robot, the axis angle (θ1) of each control axis (J) of an arm is detected, the current position (Pr) of a benchmark point (K) stipulated by the arm or a tool is determined on the basis of each of the axis angles (θ1), a position command value (Tcom) is generated whereby a position projected along a prescribed movement path (movement direction) from the current position (Pr) is set as a desired position (Pcom), and each of the command axes (J) are driven on the basis of the position command value (Tcom), these processes being repeated until the deviation between the detected axis angle (θ) and a command angle (θcom) that corresponds to the position command value (Tcom) for each of the control axes (J), or the deviation between the position command value (Tcom) and the current position (Pr) of the benchmark point (K) that corresponds to the detected axis angle (θ), is less than or equal to a prescribed value, and position information pertaining to the arm being taught to the robot after the deviation has become less than or equal to the prescribed value.

Inventors:
WATANABE MASAYUKI
NISHIMURA MASAYUKI
Application Number:
JP2016/004493
Publication Date:
April 20, 2017
Filing Date:
October 05, 2016
Export Citation:
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Assignee:
KAWASAKI HEAVY IND LTD (JP)
International Classes:
B25J9/22
Foreign References:
JP2000084878A2000-03-28
JPH05285870A1993-11-02
JPH05303425A1993-11-16
JPH1142575A1999-02-16
JP2005293098A2005-10-20
Attorney, Agent or Firm:
PATENT CORPORATE BODY ARCO PATENT OFFICE (JP)
Patent business corporation Owner old patent firm (JP)
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