JP2000020120A - Teaching system for robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To eliminate the need of the correcting work of teaching data even in the case of rotation of a work positioning device. SOLUTION: One point on an object work 3 in an actual robot system 1 is positioned at least three rotation angles with respect to one revolving shaft 7 of a work positioning device 4, and teaching data at these rotation angles are obtained. One point on an object work model in an off-line program device is positioned at least three rotation angles with respect to one revolving shaft of a work positioning device model, and teaching data at these rotation angles are obtained.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teaching system for a robot, and more particularly, to a robot system including a robot and a work positioning device having at least one rotation axis, and to teaching data created by an offline program device. When a predetermined operation is performed on the basis of the above, or a plurality of robot systems each including a robot and a work positioning device having at least one rotation axis are provided, and teaching data created by one robot system is used as another The present invention relates to a robot teaching system in which all robot systems perform predetermined operations by transferring to a robot system.

[0002]

2. Description of the Related Art In order for a robot such as a welding robot to perform a required operation, it is necessary to create data (teaching data) describing the operation. Conventionally, as one of the methods for creating the teaching data, a method using an off-line program device is known. This method
Set models of robots, workpieces and workpiece positioning devices on the computer, create data while moving these models on the graphic display,
The created data is transferred to the robot controller to perform actual work.

When using this off-line program device, there is a difference between a model and an actual relative positional relationship between objects such as a robot and a work and a robot and a work positioning device. It could not be used in the form of, and it was necessary to carry out a correction work. In addition, when there are a plurality of robots and it is desired that each of these robots perform the same operation, teaching data is created using only one of the robots, and the teaching data is transferred to the remaining robots. Has been adopted,
In this case also, data correction was required for the same reason as described above.

In order to solve such a problem, for example, in Japanese Patent Application Laid-Open No. 4-255003, teaching data of three to four points on a work model in an off-line program device and actual data corresponding to these points are described. From the teaching data of three or four points on the work, the positional relationship between the model of the off-line program device and the real object is expressed.
A technique has been proposed that creates two fixed conversion matrices and corrects teaching data created by an offline program device using this conversion matrix, thereby making it possible to eliminate the above-mentioned correction work. ing.

[0005]

However, in the case of a robot system in which a workpiece is gripped by a workpiece positioning device having a rotation axis and the rotation axis takes various angles, an off-line system disclosed in the above publication is disclosed. Even if the teaching method is used, the position of the gripping device on the work positioning device differs between the model and the real object or between real objects, and the positional relationship changes depending on the rotation angle of the rotating shaft. There is a problem that it cannot be represented by two fixed transformation matrices, and further correction work is required after correction using this fixed transformation matrix. Further, when there are a plurality of rotating shafts, there is a difference in the perpendicularity between the rotating shafts, so that the same problem as described above occurs.

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem, and provides a teaching system for a robot which can eliminate the need to correct teaching data even when a work positioning device rotates. It is intended to do so.

[0007]

In order to achieve the above object, a teaching system for a robot according to a first aspect of the present invention includes, as shown in the overall configuration diagram of FIG. A teaching system of a robot for causing a robot system including a work positioning device having two rotation axes to perform a predetermined operation based on teaching data created by an offline program device, wherein (a) First storage means for storing teaching data when the robot model tip is aligned with at least three points on the set target work model, and (b) setting a point on the target work model as one of the work positioning device models Positioning at least three rotation angles for one rotation axis, one point at each rotation angle Second storage means for storing teaching data when the robot model tip is aligned, and (c) a robot tip at each point on the target work of the robot system corresponding to each point stored in the first storage means. Third storage means for storing the teaching data when matching
One point on the target work is set to one of the work positioning devices.
Fourth storage means for positioning at least three rotation angles with respect to one rotation axis, and storing teaching data when the robot tip is adjusted to one point at each rotation angle;
(E) first calculating means for calculating a transformation matrix of the workpiece positioning device model from the teaching data stored in the second storage means, and (f) calculating the conversion matrix from the teaching data stored in the fourth storage means. (G) teaching data stored in the first storage means and the third storage means, respectively, and the first calculation means and the second calculation means. Calculating a conversion matrix from the target work model to the target work from each of the conversion matrices calculated by the calculation means.
And (h) using the transformation matrices respectively calculated by the first, second, and third calculation means to convert the teaching data of the robot created by the off-line program device. It is characterized by comprising a correction operation means for performing a correction operation.

According to the present invention, one point on the target work is positioned at at least three rotation angles with respect to one rotation axis of the work positioning device, and teaching data at each of these rotation angles is obtained. For a certain point on the model,
Since at least three rotation angles are determined for one rotation axis and the teaching data at each rotation angle is obtained, the position of the rotation axis of the work positioning device or the work positioning device model and the distance between each rotation axis are determined. Angle and the like can be obtained. Obtaining the positional relationship between the target work model and the target work from the thus obtained teaching data, at least three points of teaching data on the target work model, and three points of teaching data on the target work corresponding to the three points. Becomes possible. Therefore, even if the rotation axis of the workpiece positioning device and the model of the workpiece positioning device takes any angle, the positional relationship between the model and the real object can be accurately known, and the correction operation of the teaching data that does not require correction work can be performed. It becomes possible.

A teaching system for a robot according to a second aspect of the present invention includes a plurality of robot systems each including a robot and a work positioning device having at least one rotation axis, and a teaching system created by one of the robot systems. A robot teaching system that causes all robot systems to perform a predetermined operation by transferring data to another robot system, wherein (a) at least three robot tips on a target work in the one robot system (B) positioning a point on the target work with at least three rotation angles with respect to one rotation axis of the work positioning device;
Second storage means for storing teaching data when the robot tip is adjusted to one point at each rotation angle; (c) in the other robot system corresponding to each point stored in the first storage means Third storage means for storing teaching data when the robot tip is aligned with each point on the target work, and (d) setting a certain point on the target work in the other robot system as one rotation axis of the work positioning device. And (e) teaching stored in the second storage means for storing teaching data when the robot is positioned at at least three rotation angles and the robot tip is adjusted to one point at each rotation angle. First calculating means for calculating a conversion matrix of a work positioning device in the one robot system from the data, and (f) instruction stored in the fourth storage means. (G) second teaching means for calculating a conversion matrix of a workpiece positioning device in the other robot system from the data, (g) teaching data stored in the first storage means and the third storage means, A third operation for calculating a conversion matrix from a target work in the one robot system to a target work in the other robot system from the respective conversion matrices calculated by the first calculation unit and the second calculation unit, respectively; Means and (h) correcting the teaching data of the robot created by the one robot system by using the respective conversion matrices calculated by the first calculation means, the second calculation means, and the third calculation means, respectively. It is characterized by comprising a correction calculating means for calculating.

The present invention relates to a case in which a plurality of robot systems are provided, and by transmitting teaching data created by one of the robot systems to another robot system, a predetermined operation is performed for all robot systems. The present invention relates to a teaching system of a robot to be performed, in which a certain point on a target work in one robot system is positioned at at least three rotation angles with respect to one rotation axis of a work positioning device, and the position is determined at each rotation angle. In addition to obtaining teaching data, a certain point on a target work in another robot system is positioned at at least three rotation angles with respect to one rotation axis of the work positioning device, and teaching data at each of these rotation angles is obtained. Have been. Therefore,
As in the first aspect, regardless of the angle of the rotation axis of the work positioning device in one robot system and the rotation axis of the work positioning device in another robot system, accurately know the positional relationship between the real objects in both robot systems. This makes it possible to perform a correction operation on teaching data that does not require a correction operation.

In the first invention and the second invention, each of the second storage means and the fourth storage means is provided with a corresponding one of the points relating to the teaching data stored in the first storage means or the third storage means. With respect to the above, it is possible to perform positioning with respect to one rotation axis of the work positioning device at at least two rotation angles, and store teaching data when the robot tip is adjusted to the point at each rotation angle. By doing so, in order to obtain the teaching data stored in the second storage unit or the fourth storage unit,
Since the teaching data stored in the first storage means or the third storage means can be used, the task of creating the teaching data can be simplified.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, a specific embodiment of a robot teaching system according to the present invention will be described with reference to the drawings.

FIG. 2 is a block diagram showing a system configuration of a teaching system according to one embodiment of the present invention, FIG. 3 is a configuration diagram of a robot system, and FIG. 4 is a diagram showing a model of a robot system in an offline program device.

The robot system 1 of this embodiment is applied to an automatic welding system using a welding robot, and as shown in FIG.
And a gripper 5 for gripping the workpiece 3. Here, a welding torch (hereinafter, referred to as a “tool”) 6 is mounted on the robot 2, and the work positioning device 4 has one rotation axis (vertical axis in this embodiment) 7 and rotates the work positioning apparatus 4. It is rotatable around the axis 7.

The rotating shaft 7 of the robot 2 and the work positioning device 4 can be operated by a teaching box (not shown). Position data of the robot 2 and the rotating shaft 7 of the work positioning device 4 are used as teaching data during the teaching. Is stored in the robot controller 8. Here, the position data of the robot 2 refers to the coordinate value of the tip of the tool 6 as viewed in the fixed coordinate system O-XYZ.

On the other hand, the off-line program device 9 creates an operation program of the robot 2 off-line, and is constituted by, for example, a personal computer. As shown in FIG. 4, a model (robot model 2) of the robot system shown in FIG.
A, work model 3A, work positioning device model 4
A) is displayed, the models are operated by the keyboard 11 and the mouse 12, and the teaching data is stored in the offline program device 9. Here, the teaching data stored in the off-line program device 9 is represented in the form of P (X, θ). X is the position of the robot, θ
Is the rotation angle of the work positioning device.

In such a configuration, a conversion matrix from the work model 3A on the graphic display 10 to the work 3 in the actual robot system 1 is obtained according to the following procedure.

First, the offline program device 9
In order to obtain the teaching data of the work model 3A,
Points P on the work model 3A_1P(X_1P,
θ_1P), P _2P(X_2P, Θ_2P), P
_3P(X_3P, Θ_3P) To the tip of robot model 2A
Find the teaching data when matching, and obtain the teaching data
Is stored in the first storage means 20.

Next, as shown in FIG. 5, teaching data is obtained when the tip of the robot model 2A is aligned with one point P _4P (X _4P , θ _4P ) on the work model 3A.
Then by rotating the rotation shaft 7A of the workpiece positioning device model 4A, the point _P corresponds to the point in _{4P P 5P (X} 5P,
θ _5P ) is obtained. Further, the rotation shaft 7A is rotated to obtain a point P _6P (X _6P , θ) corresponding to the point P _4P.
6P ) _Find teaching data. The teaching data thus obtained is stored in the second storage means 21.

Next, the same processing is performed in the actual robot system 1. That is, first, three points P ₁ (X ₁ , θ ₁ ), P ₂ (X ₂ , θ ₂ ), P
₃ (X ₃ , θ ₃ ), the teaching data when the tip of the robot 2 is adjusted is obtained, and the obtained teaching data is stored in the third storage means 30. Subsequently, one point P ₄ (X
₄ , θ ₄ ) (not shown; the same applies to P ₅ and P ₆ shown below). The teaching data when the tip of the robot 2 is aligned is obtained, and the rotating shaft 7 of the work positioning device 4 is rotated. _{P 5 (X 5, θ 5} ) point corresponding to the point _{P 4} Request teaching data. Further, the rotating shaft 7 is rotated to obtain teaching data of a point P ₆ (X ₆ , θ ₆ ) corresponding to the point P ₄ . The teaching data thus obtained is stored in the fourth storage means 31.

Next, a conversion matrix is obtained from these teaching data.
The following coordinate system is introduced when Where the reference coordinates
The system is a coordinate system representing the position of the robot 2 as described above.
In the work positioning device coordinate system, the rotation axis is
It rotates with the rotation of the work positioning device 4.
Coordinate system. In addition, the gripping device coordinate system includes the gripping device 5.
The coordinate system fixed above is the work coordinate system.
3 is a coordinate system fixed on 3. Reference coordinate system O-XYZ Work positioning device coordinate system O_U-X_UY_UZ_U  Gripping device coordinate system O_H-X_HY_HZ_H  Work coordinate system O_W-X_WY_WZ_W

Further, the following expression representing the relationship between these coordinate systems is given.
Define the transformation matrix for. Conversion matrix M from reference coordinate system to work positioning device coordinate system_OU  Conversion matrix M from workpiece positioning device coordinate system to gripping device coordinate system_UH  Conversion matrix M from gripper coordinate system to workpiece coordinate system_HW  Each of these transformation matrices M_OU, M_UH, M_HWIs next
This is a 4 × 4 matrix represented by the equation. Note that R is the coordinate
Is a 3 × 3 orthogonal matrix representing rotation, where T is
This is a 3 × 1 vector.

[0023]

(Equation 1)

[0024] When the rotation angle of the rotary shaft 7 of the workpiece positioning device 4 is positioned in the theta, X _W some point viewed from the workpiece coordinate system, the base coordinate system are expressed by the following X _O. X _O = _MOU · M _R (θ) · M _UH · M _HW · X _W (1) where M _R (θ) is a matrix representing rotation about the Z axis and is represented by the following equation.

[0025]

(Equation 2)

On the other hand, the following equation similar to the equation (1) also holds on the offline program device 9. X _OP = M _OUP · M _R (θ) · M _UHP · M _HWP · X _WP (2) However, in this equation (2), by adding the subscript P to the character representing the transformation matrix, The value is different from the system.

Here, the robot 2 or the robot model
2A each tip of work 3 or work model
When the same point of 3A is matched, X_W= X_WPso
Therefore, from equations (1) and (2), X_WAnd X
_WPIs eliminated, the following equation is obtained. X_O= M_OU・ M_R(Θ) · M_UH・ M_HW・ (M_OUP・ M_R(Θ) · M_UHP・ M_HWP)^-1・ X_OP  = M_OU・ M_R(Θ) · M_UH・ M_HW・ M_HWP ^-1・ M_UHP ^-1・ M_R(Θ)^-1・ M_OUP ^-1・ X_OP

By transforming this equation, equation (3) or
Equation (4) is obtained. AX_O= CBX_OP ……… (3) X_O= A^-1・ CBX_OP ……… (4) where A = M_R(Θ)^-1・ M_OU ^-1  B = M_R(Θ)^-1・ M_OUP ^-1  C = M_UH・ M_HW・ M_HWP ^-1・ M_UHP ^-1(5) Thus, the transformation matrix from the model to the actual data is
Changes depending on the rotation angle of the
Call

In FIG. 2, the teaching data P _4P (X _4P , θ) stored in the second storage means 21 is stored in the first arithmetic means 22 in the offline program device 9.
_4P ), _P5P ( _X5P , _θ5P ), _P6P ( _X6P ,
θ _6P ), a conversion matrix M _OUP from the robot model 2A to the work positioning device model 4A is obtained. The coordinates X _4P , X _5P , and X _6P are centered on the rotation axis 7A of the work positioning device model 4A. Since they exist on an arc, the rotation center and the direction of the rotation axis can be easily obtained, and the transformation matrix M _OUP is obtained.

Similarly, the second in the robot system 1
Of the teaching data P ₄ (X ₄ , θ ₄ ) and P ₅ (X ₅ , θ) stored in the fourth storage means 31
₅ ) and P ₆ (X ₆ , θ ₆ )), a conversion matrix M _OU from the robot 2 to the work positioning device 4 is obtained, and the coordinates X ₄ , X ₅ , and X ₆ are determined by the work positioning device 4. Since it exists on an arc centered on the rotation axis 7, the transformation matrix _MOU is obtained. In this embodiment, the conversion matrices M _OU and M _OU are obtained from the three teaching point data. However, the conversion matrices may be obtained from the data of four or more points using, for example, the least square method.

Next, the data is stored in the first storage means 20.
Teaching data P_1P(X_1P, Θ_{1 P}), P_2P(X
_2P, Θ_2P), P_3P(X_3P, Θ_3P) And third
Teaching data P stored in the storage means 30₁(X₁, Θ
₁), P₂(X₂, Θ₂), P ₃(X₃, Θ₃) And before
The first operation means 22 and the second operation means 32
Each calculated transformation matrix M_OUPAnd M_OUWhen
From the third computing means 40,
From the model on the ram device 9 to the actual robot system 1
Find the transformation matrix of

The coordinate value X on the offline program device 9
_1P, X_2P, X_3PAnd on the actual robot system 1
Coordinate value X₁, X₂, X₃Is expressed by using equation (3).
Is expressed by the following equation. AX₁= CBX_1P  AX₂= CBX_2P  AX₃= CBX_3P (6) Here, the rotation angle θ can be obtained from the teaching data.
Also M_OUPAnd M _OUAre known, so A and B are
Is known. Therefore, A.X₁= X₁’A · X₂= X₂’A · X₃= X₃’BX_1P= X_1P’BX_2P= X_2P’BX_3P= X_3P', The expression (6) becomes as follows. X₁’= C · X_1P’X₂’= C · X_2P’X₃’= C · X_3P’……… (7)

Thus, by obtaining the matrix C from the equation (7), a conversion matrix from the work model 3A on the offline program device 9 to the work 3 in the actual robot system 1 can be obtained. In this embodiment, the matrix C is obtained from the conversion of three points.
It can also be obtained from the data of more points using the least squares method.

When the matrix C is obtained as described above,
In the correction calculation unit 41, the teaching data ₂₃ created in order to perform a predetermined operation to the robot 2 in the off-line programming equipment _{9 (P P (X PP,} θ PP)) is corrected calculation. That is, since the transformation matrices M _OUP , M _OU , and C are known, X _OO is obtained from the following equation using the teaching data P _P (X _PP , θ _PP ) and Equation (4), and the obtained teaching is obtained. If the data 33 ( _PO ( _XOO , _θPP )) is transferred to the actual robot system 1 and the robot 2 is operated based on the teaching data 33, the robot 2 can reach the target point.

In this embodiment, the teaching system in which the actual robot system 1 performs a predetermined operation based on the teaching data created by the offline program device 9 has been described. .. Can be used when the remaining robot systems 1 </ b> A,... Perform a predetermined operation based on the teaching data created by one of the robot systems 1. Such a system is illustrated in FIG. In this embodiment, the teaching data created by one of the plurality of robot systems 1
.., Except that the data is transferred to A,... Therefore, only the same reference numerals are given to the drawings, and the detailed description thereof will be omitted.

FIGS. 7 to 9 show another embodiment for obtaining the transformation matrix of the work positioning device.

In this embodiment, as shown in FIG.
And three points P on the gripped work 3 ₁(X₁, Θ₁),
P₂(X₂, Θ₁), P₃(X₃, Θ₁Taught)
Then, the rotating shaft 7 is rotated so that the three points P₁, P₂, P₃
P corresponding to₄(X₄, Θ₄), P₅(X₅, Θ₄),
P₆(X₆, Θ₄Teach). By this rotation
Torr

(Equation 3) Is a vector

(Equation 4) , The rotation axis becomes the vector as shown in FIG.

(Equation 5) And vector

(Equation 6) On the plane created by the two vectors here,
The symbol 'x' represents a vector product.

Similarly, by the rotation, the vector

(Equation 7) Is a vector

(Equation 8) The rotation axis becomes a vector

(Equation 9) And vector

(Equation 10) There is also a plane created by the two vectors.

Therefore, the vector of equation (8) and (9)
The normal vector of the plane including the rotation axis obtained from the expression vector is given by the following expression.

[Equation 11]

Similarly, the vector of equation (10) and the vector of equation (11)
The normal vector of the plane including the rotation axis obtained from the expression vector is given by the following expression.

(Equation 12)

From these equations (12) and (13), 2
The rotation axis vector, which is the intersection of the two planes, is given by:

(Equation 13)

Thus, the rotation axis of the work positioning device 4
Is the position data (X₁, X ₂, X₃) And after rotation
Position data (X₄, X₅, X₆)
If the rotation center is appropriately determined on this rotation axis,
M in equation (5)_OUAnd M_OUPCan ask for
it can. Note that the method of obtaining the matrix C in the equation (5) is
Same as above.

In the above description, the conversion matrix is obtained from the data at two different angles on the rotation axis of the work positioning device 4. However, the conversion matrix is obtained by the least square method using the data at three or more angles. May be requested.

In each of the above embodiments, the case where the work positioning device has one rotation axis has been described. Even when there are a plurality of rotation axes, the conversion matrix can be obtained for each rotation axis by the above-described method. The teaching data can be similarly corrected.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a robot teaching system according to the present invention.

FIG. 2 is a block diagram showing a system configuration of a teaching system according to one embodiment of the present invention.

FIG. 3 is a configuration diagram of a robot system according to the present embodiment.

FIG. 4 is a diagram illustrating a model of a robot system in the offline program device.

FIGS. 5A, 5B, and 5C are explanatory diagrams of a procedure for acquiring teaching data of a rotation axis angle.

FIG. 6 is a block diagram showing a system configuration of a teaching system according to another embodiment.

FIGS. 7A and 7B are diagrams (1) for explaining another embodiment. FIG.

FIG. 8 is a diagram (2) illustrating another embodiment.

[Explanation of symbols]

 1, 1A Robot system 2 Robot 2A Robot model 3 Work 3A Work model 4 Work positioning device 4A Work positioning device model 5 Gripping device 6 Welding torch (tool) 7, 7A Rotary axis 8 Robot controller 9 Offline program device 10 Graphic display 11 Keyboard 12 Mouse 20 First storage means 21 Second storage means 22 First calculation means 23 Teaching data 30 Third storage means 31 Fourth storage means 32 Second calculation means 33 Teaching data 40 Third calculation Means 41 Correction calculation means

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3F059 AA05 BB01 FA03 FA08 FC13 5H269 AB12 AB33 BB09 CC05 DD04 FF05 MM02 QC10 QD03 QE02 SA08 SA10

Claims (3)

[Claims] 1. A teaching system for a robot that causes a robot system including a robot and a work positioning device having at least one rotation axis to perform a predetermined operation based on teaching data created by an offline program device. (A) at least three of the target work models set in the offline program device;
First storage means for storing teaching data when the tip of the robot model is adjusted to a point, and (b) a point on the target work model at least three rotation angles with respect to one rotation axis of the work positioning device model Second storage means for positioning and storing teaching data when the robot model tip is aligned with one point at each rotation angle;
(C) third storage means for storing teaching data when the robot tip is aligned with each point on the target work of the robot system corresponding to each point stored in the first storage means, (d) A fourth point for positioning a point on the target work at at least three rotation angles with respect to one rotation axis of the work positioning device, and storing teaching data when the robot tip is aligned with the one point at each rotation angle. Storage means, (e) first calculation means for calculating a transformation matrix of the work positioning device model from teaching data stored in the second storage means, (f) teaching stored in the fourth storage means Second calculation means for calculating a conversion matrix of the work positioning device from data; (g) teaching data respectively stored in the first storage means and the third storage means; A third calculating means for calculating a conversion matrix from the target work model to the target work from each of the conversion matrices calculated by the first calculating means and the second calculating means; and (h) the first calculating means. Correction means for correcting the teaching data of the robot created by the off-line program device using the respective conversion matrices calculated by the calculation means, the second calculation means and the third calculation means. Characteristic robot teaching system. 2. A robot system comprising a plurality of robot systems each comprising a robot and a work positioning device having at least one rotation axis, wherein teaching data created by one robot system is transferred to another robot system. (A) storing teaching data when the robot tip is aligned with at least three points on a target workpiece in the one robot system. First storage means, (b) positioning a point on the target work at at least three rotation angles with respect to one rotation axis of the work positioning device;
Second storage means for storing teaching data when the robot tip is adjusted to one point at each rotation angle; (c) in the other robot system corresponding to each point stored in the first storage means Third storage means for storing teaching data when the robot tip is aligned with each point on the target work, and (d) setting a certain point on the target work in the other robot system as one rotation axis of the work positioning device. And (e) teaching stored in the second storage means for storing teaching data when the robot is positioned at at least three rotation angles and the robot tip is adjusted to one point at each rotation angle. First calculating means for calculating a conversion matrix of a work positioning device in the one robot system from the data, and (f) instruction stored in the fourth storage means. (G) second teaching means for calculating a conversion matrix of a workpiece positioning device in the other robot system from the data, (g) teaching data stored in the first storage means and the third storage means, A third operation for calculating a conversion matrix from a target work in the one robot system to a target work in the other robot system from the respective conversion matrices calculated by the first calculation unit and the second calculation unit, respectively; Means and (h) correcting the teaching data of the robot created by the one robot system by using the respective conversion matrices calculated by the first calculation means, the second calculation means, and the third calculation means, respectively. A teaching system for a robot, comprising a correction calculating means for calculating. 3. The work positioning device according to claim 1, wherein the second storage unit or the fourth storage unit stores, for each point relating to the teaching data stored in the first storage unit or the third storage unit, one of the work positioning devices. At least 2 for one axis of rotation
The robot teaching system according to claim 1 or 2, wherein the teaching system stores the teaching data when the robot is positioned at one rotation angle and the robot tip is adjusted to the point at each rotation angle.