JP2022030207A - Teaching method and robot system - Google Patents

Abstract

To provide a teaching method and a robot system, which can easily perform teaching of a robot.SOLUTION: In a teaching method, a position of a robot arm is specified when performing work for a work object for the robot having the robot arm. The method includes: a detection step for detecting a position of a teaching point specification section indicating a position of a control point of the robot arm on the work object; a calculation step for calculating the position of the control point in a robot coordinate system on the basis of the position of the teaching point specification section detected by the detection step; and a storage step for storing the position of the control point calculated by the calculation step.SELECTED DRAWING: Figure 4

Description

The present invention relates to teaching methods and robot systems.

A teaching device used to teach a robot the contents of a work prior to the robot performing various tasks is known. The teaching device described in Patent Document 1 operates an operation button so that the teacher moves the robot arm to a position where he / she wants to operate, and presses the teaching button at a desired position. As a result, the position and posture of the robot arm at that time are memorized and the teaching is performed. By repeating this operation, the position and posture of the robot arm can be memorized at a plurality of positions. Then, the robot can perform the work by driving the robot arm based on the stored position and posture information.

Japanese Unexamined Patent Publication No. 10-146782

However, in the teaching method using the teaching device described in Patent Document 1, it is difficult to move the robot to a desired position by using the operation buttons. Therefore, the teaching cannot be easily performed.

The teaching method of the present invention is a teaching method for a robot provided with a robot arm to specify the position of the robot arm when performing work on a work object.
A detection step for detecting the position of a teaching point designation unit indicating the position of a control point of the robot arm on the work object, and a detection step.
A calculation step for calculating the position of the control point in the robot coordinate system based on the position of the teaching point designation unit detected in the detection step, and a calculation step.
It is characterized by having a storage step for storing the position of the control point calculated in the calculation step.

The robot system of the present invention includes a robot having a robot arm and a robot.
A control unit for specifying the position and posture of the robot arm when the robot arm performs work on a work object is provided.
The control unit detects the position of the teaching point designation unit indicating the position of the control point of the robot arm on the work object, and the robot of the control point is based on the detected position of the teaching point designation unit. It is characterized in that a position in a coordinate system is calculated and the calculated position of the robot arm is stored in a storage unit.

FIG. 1 is a diagram showing an overall configuration of the robot system of the first embodiment. FIG. 2 is a block diagram of the robot system shown in FIG. FIG. 3 is a perspective view showing a state in which teaching is performed in the robot system shown in FIG. FIG. 4 is a perspective view showing a state in which teaching is being performed in the robot system shown in FIG. FIG. 5 is a perspective view showing a state in which teaching is being performed in the robot system shown in FIG. FIG. 6 is a perspective view showing a state in which the locus of the teaching point indicating unit of the taught robot arm is displayed in the robot system shown in FIG. 1. FIG. 7 is a flowchart showing an example of a control operation performed by the robot system shown in FIG. FIG. 8 is a diagram showing a projection device included in the robot system of the second embodiment.

<First Embodiment>
FIG. 1 is a diagram showing an overall configuration of the robot system of the first embodiment. FIG. 2 is a block diagram of the robot system shown in FIG. 3 to 5 are perspective views showing a state in which teaching is performed in the robot system shown in FIG. 1. FIG. 6 is a perspective view showing a state in which the locus of the teaching point indicating unit of the taught robot arm is displayed in the robot system shown in FIG. 1. FIG. 7 is a flowchart showing an example of a control operation performed by the robot system shown in FIG.

Hereinafter, the teaching method and the robot system of the present invention will be described in detail based on the preferred embodiments shown in the accompanying drawings. For convenience of explanation, the + Z-axis direction in FIG. 1, that is, the upper side is also referred to as “upper”, and the −Z-axis direction, that is, the lower side is also referred to as “lower”. Further, regarding the robot arm, the base 11 side in FIG. 1 is also referred to as a “base end”, and the opposite side, that is, the end effector 20 side is also referred to as a “tip”. Further, the Z-axis direction in FIG. 1, that is, the vertical direction is defined as the "vertical direction", and the X-axis direction and the Y-axis direction, that is, the left-right direction is defined as the "horizontal direction".

As shown in FIG. 1, the robot system 100 includes a robot 1, a control device 3 for controlling the robot 1, a teaching device 4, and a projection device 5.

First, the robot 1 will be described.
The robot 1 shown in FIG. 1 is a single-armed 6-axis vertical articulated robot in the present embodiment, and has a base 11 and a robot arm 10. Further, the end effector 20 can be attached to the tip of the robot arm 10. The end effector 20 may be a constituent requirement of the robot 1 or may not be a constituent requirement of the robot 1.

The robot 1 is not limited to the illustrated configuration, and may be, for example, a double-armed articulated robot. Further, the robot 1 may be a horizontal articulated robot.

The base 11 is a support that supports the robot arm 10 so as to be driveable from below, and is fixed to the floor in the factory, for example. In the robot 1, the base 11 is electrically connected to the control device 3 via the relay cable 18. The connection between the robot 1 and the control device 3 is not limited to the wired connection as shown in FIG. 1, and may be, for example, a wireless connection, and further, via a network such as the Internet. May be connected.

In the present embodiment, the robot arm 10 has a first arm 12, a second arm 13, a third arm 14, a fourth arm 15, a fifth arm 16, and a sixth arm 17. Arms are connected in this order from the base 11 side. The number of arms possessed by the robot arm 10 is not limited to six, and may be, for example, one, two, three, four, five, or seven or more. Further, the size such as the total length of each arm is not particularly limited and can be appropriately set.

The base 11 and the first arm 12 are connected to each other via a joint 171. The first arm 12 is rotatable around the first rotation axis with the first rotation axis parallel to the vertical direction as the rotation center with respect to the base 11. The first axis of rotation coincides with the normal of the floor to which the base 11 is fixed.

The first arm 12 and the second arm 13 are connected to each other via a joint 172. The second arm 13 can rotate about the second rotation axis parallel to the horizontal direction with respect to the first arm 12. The second rotation axis is parallel to the axis orthogonal to the first rotation axis.

The second arm 13 and the third arm 14 are connected to each other via a joint 173. The third arm 14 is rotatable around a third rotation axis parallel to the second arm 13 in the horizontal direction. The third rotation axis is parallel to the second rotation axis.

The third arm 14 and the fourth arm 15 are connected to each other via a joint 174. The fourth arm 15 is rotatable with respect to the third arm 14 with the fourth rotation axis parallel to the central axis direction of the third arm 14 as the rotation center. The fourth rotation axis is orthogonal to the third rotation axis.

The fourth arm 15 and the fifth arm 16 are connected via a joint 175. The fifth arm 16 is rotatable with respect to the fourth arm 15 with the fifth rotation axis as the rotation center. The fifth rotation axis is orthogonal to the fourth rotation axis.

The fifth arm 16 and the sixth arm 17 are connected to each other via a joint 176. The sixth arm 17 is rotatable with respect to the fifth arm 16 with the sixth rotation axis as the rotation center. The sixth rotation axis is orthogonal to the fifth rotation axis.

Further, the sixth arm 17 is a robot tip portion located on the most tip side of the robot arm 10. The sixth arm 17 can be rotated together with the end effector 20 by driving the robot arm 10.

The robot 1 includes a motor M1, a motor M2, a motor M3, a motor M4, a motor M5 and a motor M6 as drive units, and an encoder E1, an encoder E2, an encoder E3, an encoder E4, an encoder E5 and an encoder E6. The motor M1 is built in the joint 171 and relatively rotates the base 11 and the first arm 12. The motor M2 is built in the joint 172 and rotates the first arm 12 and the second arm 13 relatively. The motor M3 is built in the joint 173 and rotates the second arm 13 and the third arm 14 relatively. The motor M4 is built in the joint 174 and rotates the third arm 14 and the fourth arm 15 relatively. The motor M5 is built in the joint 175 and relatively rotates the fourth arm 15 and the fifth arm 16. The motor M6 is built in the joint 176 and is built in, and rotates the fifth arm 16 and the sixth arm 17 relatively.

Further, the encoder E1 is built in the joint 171 and detects the position of the motor M1. The encoder E2 is built in the joint 172 and detects the position of the motor M2. The encoder E3 is built in the joint 173 and detects the position of the motor M3. The encoder E4 is built in the joint 174 and detects the position of the motor M4. The encoder E5 is built in the fifth arm 16 and detects the position of the motor M5. The encoder E6 is built in the sixth arm 17 and detects the position of the motor M6.

The encoders E1 to E6 are electrically connected to the control device 3, and the position information of the motors M1 to M6, that is, the rotation amount is transmitted to the control device 3 as an electric signal. Then, based on this information, the control device 3 drives the motors M1 to M6 via the motor drivers D1 to D6 shown in FIG. That is, controlling the robot arm 10 means controlling the motors M1 to M6.

Further, a control point CP is set at the tip of the robot arm 10. The control point CP is a reference point when controlling the robot arm 10. In the robot system 100, the position of the control point CP is grasped in the robot coordinate system, and the robot arm 10 is driven so that the control point CP moves to a desired position.

Further, in the robot 1, a force detection unit 19 for detecting a force is detachably installed on the robot arm 10. Then, the robot arm 10 can be driven in a state where the force detection unit 19 is installed. The force detection unit 19 is a 6-axis force sensor in this embodiment. The force detection unit 19 detects the magnitude of the force on the three detection axes orthogonal to each other and the magnitude of the torque around the three detection axes. That is, the force components in the X-axis, Y-axis, and Z-axis directions orthogonal to each other, the force component in the W direction around the X-axis, the force component in the V direction around the Y-axis, and the Z-axis circumference. The force component in the U direction is detected. These X-axis, Y-axis, and Z-axis are axes in the robot coordinate system.

The end effector 20 can be detachably attached to the force detection unit 19. In the present embodiment, the end effector 20 is composed of a polishing machine that polishes the work W, which is a work object.

Further, in the present embodiment, the end effector 20 is not limited to the above configuration, and may be, for example, a tool such as a grinder, a cutting machine, a driver, a wrench, etc., and grips the work W by suction or pinching. It may be a hand, for example, a dispenser for supplying a treatment liquid such as an adhesive.

Further, in the robot coordinate system, a tool center point TCP is set at the tip of the end effector 20. In the robot system 100, the tool center point TCP can be used as a control reference by grasping the position of the tool center point TCP in the robot coordinate system. That is, by grasping the positional relationship between the tool center point TCP and the control point CP, the robot arm 10 can be driven and the work can be performed using the tool center point TCP as a control reference. Such a tool center point TCP can be called a control point.

Next, the control device 3 and the teaching device 4 will be described.
As shown in FIG. 1, the control device 3 is installed at a position away from the robot 1 in the present embodiment. However, the present invention is not limited to this configuration, and may be built in the base 11. Further, the control device 3 has a function of controlling the drive of the robot 1 and is electrically connected to each part of the robot 1 described above. The control device 3 includes a control unit 31, a storage unit 32, and a communication unit 33. Each of these parts is communicably connected to each other via, for example, a bus.

The control unit 31 is composed of, for example, a CPU (Central Processing Unit), and reads and executes various programs such as an operation program stored in the storage unit 32. The signal generated by the control unit 31 is transmitted to each unit of the robot 1 via the communication unit 33. As a result, the robot arm 10 can perform a predetermined work under a predetermined condition. The storage unit 32 stores various programs and the like that can be executed by the control unit 31. Examples of the storage unit 32 include a volatile memory such as a RAM (Random Access Memory), a non-volatile memory such as a ROM (Read Only Memory), and a detachable external storage device. The communication unit 33 transmits / receives a signal to / from the control device 3 by using an external interface such as a wired LAN (Local Area Network) or a wireless LAN.

As shown in FIGS. 1 and 2, the teaching device 4 has a control unit 41, a storage unit 42, and a communication unit 43, and has a function of creating and inputting an operation program to the robot arm 10. Has. The teaching device 4 is not particularly limited, and examples thereof include a tablet terminal, a personal computer, a smartphone, and a teaching pendant.

The control unit 41 is composed of, for example, a CPU (Central Processing Unit), and reads and executes various programs such as a teaching program stored in the storage unit 42. The signal generated by the control unit 41 is transmitted to the control device 3 via the communication unit 43. As a result, the information taught to the control device 3 can be input. The storage unit 42 stores various programs and the like that can be executed by the control unit 41. Examples of the storage unit 42 include volatile memory such as RAM (Random Access Memory), non-volatile memory such as ROM (Read Only Memory), and a detachable external storage device. The communication unit 43 transmits and receives signals to and from the control device 3 and the projection device 5 by using an external interface such as a wired LAN (Local Area Network) or a wireless LAN.

The projection device 5 is a so-called interactive projector, and a teaching point designation indicating a position where the tool center point TCP should move on the control unit 51, the projection unit 52 for projecting an image, and the image 200 projected by the projection unit 52. A detection unit 53 for detecting the position of the unit 50, a storage unit 54, and a communication unit 55 are provided.

The control unit 51 is composed of, for example, a CPU (Central Processing Unit), and reads and executes various programs such as a teaching program stored in the storage unit 54.

The projection unit 52 is driven by the control unit 51 and projects the image 200 onto the work W and its surroundings. Although not shown, the projection unit 52 includes a light source, a light modulation unit, and a projection lens. The light source is composed of a light bulb and an LED. The optical modulation unit is composed of a liquid crystal panel and modulates the light emitted from the light source according to the image signal input from the control unit 51. The light modulated in the light modulation unit is magnified by the projection lens and projected onto the work W as image light.

The control unit 51 generates an image signal representing a projected image from the video data input from the teaching device 4 and the video data stored in the storage unit 54, and inputs the image signal to the optical modulation unit of the projection unit 52. The control unit 51 has a function of executing correction processing such as color correction and keystone correction that reflect preset parameters.

The image 200 projected by the projection unit 52 may be, for example, a monochromatic image such as white, blue, or yellow, or an image having a grid pattern.

The detection unit 53 is composed of, for example, a camera 531 including a CCD or CMOS image sensor, a lens, and the like. The lens included in the detection unit 53 is preferably the same as the lens included in the projection unit 52. The camera 531 can capture at least the entire area of the image 200 projected by the projection unit 52. The operation of the camera 531 is controlled by the control unit 51, and the captured image captured is stored in the storage unit 54.

The camera 531 may capture an image of visible light, or may capture an image of light outside the visible light region, for example, infrared light.

Further, the detection unit 53 is set with a detection coordinate system defined by three axes of x-axis, y-axis and z-axis as shown in FIG. The detected coordinate system is associated with the robot coordinate system in advance, and the position specified in the detected coordinate system is converted into the robot coordinate system, that is, the position in the robot coordinate system is calculated based on the position specified in the detected coordinate system. It is possible to do.

Further, in the stored captured image, the control unit 51 detects the position of the teaching point designation unit 50. The teaching point designation unit 50 indicates a position where the tool center point TCP should be moved, and in the illustrated configuration, it is a fingertip of the teacher. By acquiring an image of the fingertip of the teacher in advance, storing it in the storage unit 54, and matching it with the captured image by a known method, the position of the teaching point designation unit 50 in the captured image can be specified.

The teaching point designation unit 50 is the fingertip of the teacher in the illustrated configuration, but is not limited to this in the present invention, and may be, for example, an arbitrary part of a long body such as a pen held by the teacher. can do.

Next, an example of the teaching method of the present invention will be described with reference to FIGS. 3 to 6 with reference to the flowchart shown in FIG. 7. It should be noted that the following steps S101 to S109 may be executed by any of the control units 31, the control unit 41, and the control unit 51, and these may be shared and executed. You may. Further, the storage in steps S102 and S105 may be configured to be stored in any of the storage units 32, the storage unit 42, and the storage unit 54, and may be stored in all the storage units. You may.

First, in step S101, as shown in FIG. 3, while projecting the image 200 on the upper surface of the work W, an image including the teaching point designation unit 50 is captured. For example, as shown in FIG. 3, the teacher points to the work start position P1 by the fingertip, that is, the teaching point designation unit 50. Then, as shown in FIG. 4, the fingertip is moved so as to trace the edge portion on the upper surface side of the work W, and as shown in FIG. 5, it is moved to the work end position P2. That is, in the illustrated configuration, it is a teaching when the robot 1 wants to perform the work of polishing a part of the edge portion on the upper surface side of the work W.

During such an operation, the camera 531 captures an image including the work W and the teaching point designation unit 50. The imaging timing is not particularly limited, and captured images may be acquired at predetermined time intervals, or continuous imaging may be performed as an image.

Next, in step S102, the image captured in step S101 is stored in the storage unit 54. Next, in step S103, the position of the teaching point designation unit 50 in the captured image stored in step S102 is specified, that is, detected. This step S103 is a detection step for detecting the position of the teaching point designation unit 50 indicating the position of the tool center point TCP which is the control point on the work W. In this step, the position of the teaching point designation unit 50 is specified in the detection coordinate system.

Next, in step S104, the position in the robot coordinate system is calculated based on the position of the teaching point designation unit 50 detected in the detection coordinate system. As described above, since the detection coordinate system and the robot coordinate system have been calibrated, this calculation can be performed using a predetermined relational expression, a table, or the like. This step S104 is a calculation step of calculating the position of the tool center point TCP in the robot coordinate system based on the position of the teaching point designation unit 50 detected in the detection step.

Then, in step S105, the position in the robot coordinate system calculated in step S104 is stored in the storage unit 42. Thereby, the position and posture of the robot arm 10 can be memorized, that is, taught. This step S105 is a storage step for storing the position and posture of the robot arm 10 calculated in the calculation step.

When the position of the tool center point TCP in the robot coordinate system is calculated, the posture of the robot arm 10, that is, the angle with each joint can be determined by using a predetermined relational expression, a table, or the like. Therefore, the position of the tool center point TCP in the robot coordinate system and the corresponding posture can be stored. Further, there may be a plurality of postures of the robot arm 10 with respect to a position in one robot coordinate system. In this case, the robot arm 10 may be configured to select the optimum posture, and the instructor may use the robot arm 10. It may be a configuration to be selected.

In the present invention, only the position of the robot arm 10, that is, the position of the tool center point TCP which is the control point may be taught.

Next, in step S106, it is determined whether or not there is a completion instruction. This determination may be made based on whether or not the teacher has pressed a teaching completion button (not shown), or may be made based on whether or not the teaching point designation unit 50 can no longer be detected from the captured image.

If it is determined in step S106 that there is no completion instruction, the process returns to step S101 and the subsequent steps are repeated. On the other hand, if it is determined in step S106 that there is a completion instruction, it is completed in step S107, that is, the detection of the teaching point designation unit 50 is terminated.

Next, in step S108, it is determined whether or not there is a projection instruction. The judgment in this step is made based on whether or not a projection button (not shown) is pressed. The projection button may be provided in the projection device 5, the control device 3, or the teaching device 4.

If it is determined in step S108 that there is no projection instruction, the teaching program is terminated. On the other hand, if it is determined in step S108 that the projection instruction has been given, in step S109, the image 300 is projected as shown in FIG. In the image 300 projected in this step, in addition to the images 200 shown in FIGS. 3 to 5, the locus of the teaching point designation unit 50 is displayed in a color different from that of the surroundings. As a result, the teacher can clearly grasp the trajectory of the teaching. Therefore, for example, it is possible to redo immediately, and accurate teaching can be performed.

Such step S109 is a display step for displaying information regarding the position and posture of the robot arm 10 stored in the storage step. In the illustrated configuration, the set of the positions of the taught robot arm 10 is displayed, but the present invention is not limited to this, and for example, by projecting a simulation image of the robot arm 10 together, the posture can be changed. It may be projected. That is, it can be said that the "information" includes a set of positions of the robot arm 10, a simulation image of the robot arm 10, and a locus of the tool center point TCP.

Further, the display step is not limited to the display by projection using the projection device 5, and may be configured to be displayed as a simulation image on a display unit of the teaching device 4 or a separately prepared display unit, for example.

Further, in the image projected during teaching, the position indicated by the teaching point designation unit 50 and the locus that has passed so far may be displayed in real time.

As described above, the teaching method of the present invention is a teaching method for specifying the position of the robot arm 10 when performing work on the work W, which is a work object, for the robot 1 provided with the robot arm 10. Further, the teaching method of the present invention includes a detection step for detecting the position of the teaching point designation unit 50 indicating the position of the tool center point TCP which is the control point of the robot arm 10 on the work W, and the teaching detected in the detection step. It has a calculation step of calculating the position of the control point in the robot coordinate system based on the position of the point designation unit 50, and a storage step of storing the position of the control point calculated in the calculation step. According to such a teaching method, it is possible to omit the work of actually moving the robot arm as in the conventional case. Therefore, the teaching can be performed easily and quickly. In particular, although it depends on the shape and posture of the robot arm 10, the position of the tool center point TCP may be difficult to see from the teacher, and moving the tool center point TCP to a desired position requires experience. , It is not an operation that anyone can do. On the other hand, in the present invention, accurate teaching can be quickly performed by a simple method of designating the position of the tool center point TCP in the teaching point designation unit 50.

Further, the robot system 100 of the present invention includes a robot 1 having a robot arm 10 and a control unit 31 for specifying the position and posture of the robot arm 10 when the robot arm 10 performs work on a work W which is a work object. A control unit 41 and a control unit 51 are provided. Further, the control unit 31, the control unit 41, and the control unit 51 detect the position of the teaching point designation unit 50 indicating the position of the tool center point TCP which is the control point of the robot arm 10 on the work W, and the detected teaching point. The position of the tool center point TCP in the robot coordinate system is calculated based on the position of the designated unit 50, and the calculated position of the tool center point TCP is stored in at least one of the storage unit 32, the storage unit 42, and the storage unit 54. Remember in the department. This makes it possible to omit the work of actually moving the robot arm as in the conventional case. Therefore, the teaching can be easily performed.

Further, in the detection step, when the teaching point designating unit 50 moves, the position of the teaching point designating unit 50 is detected a plurality of times along the movement, and in the calculation step, the plurality of teaching point designating units 50 detected in the detection step are detected. Based on the position, a plurality of positions in the robot coordinate system of the tool center point TCP which is a control point are calculated. This makes it possible to teach the locus of the tool center point TCP.

Further, the teaching method of the present invention includes a projection step of projecting an image 200, which is a projection image, onto the work W before the detection step. As a result, by making the image 200 an image in which the teaching point designating unit 50 can be easily recognized, the position of the teaching point designating unit 50 can be accurately grasped. Further, by using a projected image, for example, a method of detecting a boundary with a shadow can be adopted. From such a thing, accurate teaching can be performed.

Further, the teaching method of the present invention includes a display step for displaying information regarding the position of the tool center point TCP, which is a control point stored in the storage step. As a result, the teacher can clearly grasp the trajectory of the teaching. Therefore, for example, it is possible to redo immediately, and accurate teaching can be performed.

Further, in the teaching method of the present invention, the image 200, which is a projected image, includes the locus of the tool center point TCP which is a control point. This allows the teacher to clearly grasp the trajectory of the tool center point TCP.

<Second Embodiment>
FIG. 8 is a diagram showing a projection device included in the robot system of the second embodiment.
Hereinafter, the second embodiment will be described, but in the following description, the differences from the first embodiment will be mainly described, and the same matters will be omitted.

In this embodiment, as shown in FIG. 8, two projection devices 5 are provided. The projection devices 5 are provided at different positions from each other. One projection device 5 projects the image 200 on the upper surface of the work W, and the other projection device 5 projects the image 200 on one side surface of the work W.

In the present embodiment, when teaching, the teaching can be performed on the upper surface and the side surface of the work W on which the image 200 is projected. That is, three-dimensional teaching can be performed by tracing the upper surface and the side surface on which the image 200 is projected with the teaching point designation unit 50. As a result, more accurate teaching can be performed.

Although the teaching method and the robot system of the present invention have been described above with respect to the illustrated embodiment, the present invention is not limited thereto. Further, each process and each part of the teaching method and the robot system can be replaced with any process or structure capable of exhibiting the same function. Further, any process and structure may be added.

In the first embodiment, if one projection device has two imaging units, three-dimensional teaching can be performed. Further, in the first embodiment, three-dimensional teaching can be performed by using a 3D camera, that is, a depth sensor camera.

Further, the projection unit may be omitted and the teaching may be performed using only the detection unit in the space where the image is not projected.

1 ... Robot, 3 ... Control device, 4 ... Teaching device, 5 ... Projection device, 10 ... Robot arm, 11 ... Base, 12 ... 1st arm, 13 ... 2nd arm, 14 ... 3rd arm, 15 ... 4 arm, 16 ... 5th arm, 17 ... 6th arm, 18 ... relay cable, 19 ... force detection unit, 20 ... end effector, 31 ... control unit, 32 ... storage unit, 33 ... communication unit, 41 ... control unit , 42 ... storage unit, 43 ... communication unit, 50 ... teaching point designation unit, 51 ... control unit, 52 ... projection unit, 53 ... detection unit, 54 ... storage unit, 55 ... communication unit, 100 ... robot system, 171 ... Joints, 172 ... joints, 173 ... joints, 174 ... joints, 175 ... joints, 176 ... joints, 200 ... images, 300 ... images, 531 ... cameras, CP ... control points, D1 ... motor drivers, D2 ... motor drivers, D3 ... Motor driver, D4 ... Motor driver, D5 ... Motor driver, D6 ... Motor driver, E1 ... Encoder, E2 ... Encoder, E3 ... Encoder, E4 ... Encoder, E5 ... Encoder, E6 ... Encoder, M1 ... Motor, M2 ... Motor , M3 ... motor, M4 ... motor, M5 ... motor, M6 ... motor, P1 ... work start position, P2 ... work end position, TCP ... tool center point, W ... work

Claims (6)

It is a teaching method for a robot equipped with a robot arm to specify the position of the robot arm when performing work on a work object.
A detection step for detecting the position of a teaching point designation unit indicating the position of a control point of the robot arm on the work object, and a detection step.
A calculation step for calculating the position of the control point in the robot coordinate system based on the position of the teaching point designation unit detected in the detection step, and a calculation step.
A teaching method comprising: a storage step for storing the position of the control point calculated in the calculation step. In the detection step, when the teaching point designation unit moves, the position of the teaching point designation portion is detected a plurality of times along the movement.
The teaching method according to claim 1, wherein in the calculation step, a plurality of positions of the control points in the robot coordinate system are calculated based on the positions of the plurality of teaching point designation units detected in the detection step. The teaching method according to claim 1 or 2, further comprising a projection step of projecting a projected image onto the work object prior to the detection step. The teaching method according to claim 3, further comprising a display step for displaying information regarding the position of the control point stored in the storage step. The teaching method according to claim 3 or 4, wherein the projected image includes a locus of the control point. A robot with a robot arm and
A control unit for specifying the position and posture of the robot arm when the robot arm performs work on a work object is provided.
The control unit detects the position of the teaching point designation unit indicating the position of the control point of the robot arm on the work object, and the robot of the control point is based on the detected position of the teaching point designation unit. A robot system characterized in that a position in a coordinate system is calculated and the calculated position of the control point is stored in a storage unit.

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