Title:
TEACHING PROGRAM, TEACHING METHOD, AND ROBOT SYSTEM
Document Type and Number:
WIPO Patent Application WO/2018/173165
Kind Code:
A1
Abstract:
This teaching program is designed to move a tool (13) provided to an arm (11) of a robot (2), and causes a computer to perform the steps of: acquiring position information indicating the nth teaching point and position information indicating the (n+1)th teaching point; on the basis of the direction of movement of the tool (13) from the nth teaching point toward the (n+1)th teaching point, acquiring an offset direction different from the direction of movement of the tool (13); acquiring pressure information indicating the pressure being applied to the tool (13); and sending out a movement instruction to move the tool (13) from the nth teaching point toward the (n+1)th teaching point while pressing the tool (13) in the offset direction in such a way that the pressure applied to the tool (13) does not exceed a threshold pressure.
Inventors:
TERADA DAISUKE (JP)
KURAMITSU SHINYA (JP)
KURAMITSU SHINYA (JP)
Application Number:
PCT/JP2017/011525
Publication Date:
September 27, 2018
Filing Date:
March 22, 2017
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
G05B19/42; B25J13/08
Foreign References:
| JPH07266269A | 1995-10-17 | |||
| JP2006058961A | 2006-03-02 | |||
| JPH04148308A | 1992-05-21 | |||
| JP2012020348A | 2012-02-02 |
Attorney, Agent or Firm:
TAKAMURA, Jun (JP)
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