JP2009072833A5 - - Google Patents

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JP2009072833A5
JP2009072833A5 JP2007241596A JP2007241596A JP2009072833A5 JP 2009072833 A5 JP2009072833 A5 JP 2009072833A5 JP 2007241596 A JP2007241596 A JP 2007241596A JP 2007241596 A JP2007241596 A JP 2007241596A JP 2009072833 A5 JP2009072833 A5 JP 2009072833A5
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Japan
Prior art keywords
robot
unit
recording
operation handle
direct teaching
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JP2007241596A
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JP2009072833A (en
JP4873253B2 (en
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Priority claimed from JP2007241596A external-priority patent/JP4873253B2/en
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Publication of JP2009072833A5 publication Critical patent/JP2009072833A5/ja
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Publication of JP4873253B2 publication Critical patent/JP4873253B2/en
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Claims (7)

多関節ロボットの先端部に力センサを介して設けられた操作ハンドルを備え、教示作業者が前記操作ハンドルに加える力を前記力センサにより検出し、前記検出した力に応じて力制御により前記ロボットを動作させ、前記ロボットの動作を記録することで教示を行うロボットの直接教示装置において、
教示中の前記ロボットの位置と速度を予め設定されたサンプリング時間ごとに収録する収録部と、
前記収録部に収録された速度データの変化に応じた間隔で前記収録部に収録された位置データを抽出して前記ロボットのパスデータを生成する抽出処理部と、
前記生成されたパスデータを記憶する記憶部とを備え、
前記操作ハンドルは、前記生成されたパスデータを提示する表示部を備えたことを特徴とするロボットの直接教示装置。 An articulated robot is provided with an operation handle provided at the tip of the articulated robot via a force sensor, the force applied by the teaching operator to the operation handle is detected by the force sensor, and the robot is controlled by force control according to the detected force. In the direct teaching device of the robot that teaches by recording the movement of the robot,
A recording unit that records the position and speed of the robot being taught at preset sampling times;
An extraction processing unit that extracts position data recorded in the recording unit at intervals corresponding to changes in velocity data recorded in the recording unit and generates path data of the robot;
A storage unit for storing the generated path data;
The robot direct teaching apparatus, wherein the operation handle includes a display unit for presenting the generated path data. 前記抽出処理部は、前記収録部に収録された速度データの大きさが大きいほど前記収録部に収録された位置データの抽出の間隔を大きくして前記パスデータを生成することを特徴とする請求項１記載のロボットの直接教示装置。 The extraction processing unit generates the path data by increasing the extraction interval of the position data recorded in the recording unit as the size of the speed data recorded in the recording unit increases. Item 2. A robot direct teaching apparatus according to Item 1. 前記表示部は、前記抽出処理部が前記収録部に収録された位置データを抽出する間隔を調整するパラメータを設定する設定部を備えたことを特徴とする請求項１または２記載のロボットの直接教示装置。 The direct display of the robot according to claim 1 , wherein the display unit includes a setting unit that sets a parameter for adjusting an interval at which the extraction processing unit extracts position data recorded in the recording unit. Teaching device. 前記表示部はタッチパネルを備え、前記タッチパネルに前記ロボットの位置と速度の収録の開始および停止を行うスイッチと、前記抽出処理部による前記パスデータ生成開始を行うスイッチを表示することを特徴とする請求項１乃至３のいずれか１項記載のロボットの直接教示装置。 Wherein the display unit which includes a touch panel, a switch for starting and stopping the recording of the position and velocity of the robot in the touch panel, and displaying the switch for the path data generation start by the extraction processing unit Item 4. The robot direct teaching apparatus according to any one of Items 1 to 3 . 前記表示部は、前記収録部に収録された位置データおよび生成されたパスデータを３次元グラフィックス表示により提示するグラフィックデータ表示部を備えたことを特徴とする請求項１乃至４のいずれか１項記載のロボットの直接教示装置。 Wherein the display unit, any one of claims 1 to 4, further comprising a graphical data display unit for presenting a three-dimensional graphics display From position data and the generated path data to the recording unit The robot direct teaching apparatus according to the item . 前記表示部は、前記操作ハンドルから取り外し自在に設置されることを特徴とする請求項１乃至５のいずれか１項記載のロボットの直接教示装置。 The robot direct teaching apparatus according to claim 1 , wherein the display unit is detachably installed from the operation handle. 前記操作ハンドルはデッドマンスイッチを備え、前記デッドマンスイッチが押下されている間のみ前記力制御を行うことを特徴とする請求項１乃至６のいずれか１項記載のロボットの直接教示装置。
7. The robot direct teaching apparatus according to claim 1, wherein the operation handle includes a deadman switch, and the force control is performed only while the deadman switch is pressed.
JP2007241596A 2007-09-18 2007-09-18 Robot direct teaching device Expired - Fee Related JP4873253B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2007241596A JP4873253B2 (en) 2007-09-18 2007-09-18 Robot direct teaching device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2007241596A JP4873253B2 (en) 2007-09-18 2007-09-18 Robot direct teaching device

Publications (3)

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JP2009072833A JP2009072833A (en) 2009-04-09
JP2009072833A5 true JP2009072833A5 (en) 2011-06-30
JP4873253B2 JP4873253B2 (en) 2012-02-08

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JP2007241596A Expired - Fee Related JP4873253B2 (en) 2007-09-18 2007-09-18 Robot direct teaching device

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JP5125977B2 (en) * 2008-10-15 2013-01-23 トヨタ自動車株式会社 Input support device
US8082673B2 (en) 2009-11-06 2011-12-27 Hexagon Metrology Ab Systems and methods for control and calibration of a CMM
JP5912683B2 (en) * 2012-03-07 2016-04-27 株式会社神戸製鋼所 System having motor drive structure, program used for motor drive structure system, and welded article manufacturing method
JP5929409B2 (en) * 2012-03-28 2016-06-08 株式会社デンソーウェーブ Robot information display device
JP6165552B2 (en) * 2013-08-21 2017-07-19 株式会社スター精機 Teaching pendant of molded product take-out machine
JP2017030058A (en) * 2015-07-29 2017-02-09 セイコーエプソン株式会社 Robot, robot control device and robot system
JP6760717B2 (en) * 2015-06-22 2020-09-23 ライフロボティクス株式会社 Robot device
DE102015012962A1 (en) * 2015-10-08 2017-04-13 Sami Haddadin robot system
DE102015012961B4 (en) * 2015-10-08 2022-05-05 Kastanienbaum GmbH robotic system
CN107303674A (en) * 2016-04-19 2017-10-31 上海技美科技股份有限公司 Robot system
CN107303673A (en) * 2016-04-19 2017-10-31 上海技美科技股份有限公司 Robot
IT201600097482A1 (en) * 2016-09-28 2018-03-28 Gaiotto Automation S P A METHOD FOR THE SURFACE TREATMENT OF A MANUFACTURE
WO2019102562A1 (en) * 2017-11-22 2019-05-31 三菱電機株式会社 Display actuator and cobot
WO2022114016A1 (en) 2020-11-30 2022-06-02 ファナック株式会社 Training device for indicating training point through direct training operation, robot control device, and computer program for training device

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