JPH08216074A - Direct teaching device of robot - Google Patents
Direct teaching device of robotInfo
- Publication number
- JPH08216074A JPH08216074A JP7053599A JP5359995A JPH08216074A JP H08216074 A JPH08216074 A JP H08216074A JP 7053599 A JP7053599 A JP 7053599A JP 5359995 A JP5359995 A JP 5359995A JP H08216074 A JPH08216074 A JP H08216074A
- Authority
- JP
- Japan
- Prior art keywords
- robot
- teaching
- force
- operator
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は産業用ロボット等に直接
教示をするための教示装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teaching device for directly teaching an industrial robot or the like.
【０００２】[0002]
【従来の技術】従来の産業用ロボットに対する直接教示
装置としては、ロボットの駆動部と非駆動部をクラッチ
等で切り離し、オペレータが直接ロボットの先端を持っ
て作業ツールを誘導していくもの（例えば、特開昭５６
−４７２７４号公報参照）と、図２に示すように、オペ
レータがロボットの先端に取り付けられた力検出器を内
蔵した教示用ツールを直接操作して加えられた力または
モーメントに応じて力制御を行い、位置または速度制御
でロボットの作業ツールを誘導するものがある（例え
ば、特開昭５８−７１０８６号公報、特開平６−７９６
６５号公報参照）。2. Description of the Related Art A conventional direct teaching apparatus for an industrial robot is one in which a driving unit and a non-driving unit of the robot are separated by a clutch or the like, and an operator directly holds a tip of the robot to guide a working tool (for example, , JP-A-56
As shown in FIG. 2, the operator directly operates a teaching tool that has a built-in force detector attached to the tip of the robot to perform force control according to the applied force or moment. There is a method in which the work tool of the robot is guided by position or speed control (for example, JP-A-58-71086 and JP-A-6-796).
65 publication).
【０００３】[0003]
【発明が解決しようとする課題】しかしながら前者は、
オペレータがロボットの先端または作業ツールを持って
自由に動かすためには、ロボットの駆動部と非駆動部と
を切り離すクラッチ等の機構や、ロボットアームの自重
を相殺させるバランス装置が必要となり、機構が複雑に
なるという欠点がある。また後者は、非接触でワーク上
の作業点の教示を行うため、作業ツールの先端をワーク
に対して一定距離や一定姿勢を保ったままで移動させる
ことは難しく、作業ツールの先端がワークに接触した場
合には力制御の手段がないため作業ツールやワークの破
損の危険性があり、オペレータの肉体的精神的疲労度が
大きく作業時間も掛かってしまうという問題点があっ
た。この発明は上記の如き事情に鑑みなされたものであ
って、ロボットにクラッチ等の特別な駆動機構やアーム
のバランス装置等を設けること無く、既製のロボットに
も容易に取り付け可能であり、オペレータがワーク上の
作業点の教示を行う際に特別な注意を払う必要がなく、
オペレータの肉体的精神的疲労度が非常に小さくなると
ともに、構造が簡単な産業用ロボットの直接教示装置を
提供することを目的とするものである。However, the former is,
In order for the operator to freely move by holding the tip of the robot or the work tool, a mechanism such as a clutch that separates the drive part and the non-drive part of the robot and a balance device that cancels the weight of the robot arm are required. It has the drawback of complexity. Also, the latter teaches the working point on the workpiece without contact, so it is difficult to move the tip of the working tool while maintaining a fixed distance or posture with respect to the workpiece, and the tip of the working tool contacts the workpiece. In this case, since there is no means for controlling the force, there is a risk of breakage of the work tool or the work, and there is a problem that the operator's physical and mental fatigue is large and the work time is long. The present invention has been made in view of the above circumstances, and can be easily attached to a ready-made robot without providing the robot with a special drive mechanism such as a clutch or a balance device for the arm, and the operator can easily install the robot. There is no need to pay special attention when teaching the work point on the work,
It is an object of the present invention to provide a direct teaching device for an industrial robot which has a very low physical and mental fatigue of an operator and a simple structure.
【０００４】[0004]
【課題を解決するための手段】上記目的を達成するため
に、図１に示すように本発明の直接教示装置において
は、ロボットを人手で動作させてその位置・姿勢を教示
してロボット制御装置に記憶させ、再生動作を行うロボ
ットの直接教示装置において、前記ロボット１１の先端
部に、力検出器と、前記力検出器の検出端に固定された
支持部と、前記支持部の先端に配置されてワーク１７と
接触するための接触子と、前記支持部上に配置されオペ
レータが把持し操作するための握り部とから構成される
教示用ハンドル装置２０を設け、前記ロボット制御装置
３０内に前記力検出器で得た情報を基に前記教示用ハン
ドル装置を用いた教示中にロボットの力制御を行う制御
手段３０ａを設けたことを特徴とするものである。In order to achieve the above object, in a direct teaching apparatus of the present invention as shown in FIG. 1, a robot controller is operated by manually operating a robot to teach its position and orientation. In a direct teaching device of a robot for storing and reproducing the force, a force detector, a support portion fixed to a detection end of the force detector, and a tip end of the support portion are arranged at a tip portion of the robot 11. The robot handle 30 is provided with a teaching handle device 20 including a contactor for contacting the workpiece 17 and a grip part arranged on the support part for the operator to grip and operate. A control means 30a for controlling the force of the robot during teaching using the teaching handle device based on the information obtained by the force detector is provided.
【０００５】[0005]
【作用】上記のように構成された教示装置により、空間
内すなわちワークと接しない作業点の教示の場合は、オ
ペレータの操作力に応じてロボットを誘導し位置と姿勢
の教示をする。ワーク上の作業点の教示を行う場合は接
触子に働く接触力とオペレータの操作力の両方の力に応
じてロボットを誘導し、接触状態で位置と姿勢教示を行
う。また並進方向の操作力と回転方向の操作力に対する
力制御の切り換えを行うことで、ワークに対して作業ツ
ールの位置のみまたは姿勢のみの教示が可能となる。With the teaching device constructed as described above, in the case of teaching a working point in space, that is, not in contact with the work, the robot is guided according to the operating force of the operator to teach the position and posture. When teaching a work point on a work, the robot is guided according to both the contact force acting on the contactor and the operation force of the operator, and the position and posture are taught in the contact state. Further, by switching the force control between the translational operation force and the rotational operation force, it is possible to teach only the position or the attitude of the work tool to the work.
【０００６】[0006]
【実施例】以下本発明の一実施例について、図面に基づ
いて詳細に説明する。先ず図４において、教示用ハンド
ルについて説明する。図において、教示用ハンドル２０
は、力検出器２１と、前記力検出器２１の検出端に固定
された支持部２３と、前記支持部２３の先端に配置され
てワーク１７と接触するための接触子２４と、前記支持
部２３上に配置されオペレータ１６が把持し操作するた
めの握り部２２と、前記握り部２２上に配置された並進
方向と回転方向の力制御方向切り換えスイッチ２５と、
ＥＮＴＥＲキー２６で構成されている。教示用ハンドル
２０は力検出器２１の他端によりロボットの手首部分１
２に取り付け可能である。また支持部２３は図示しない
長さ及び方向の調節が可能な機構になっている。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the drawings. First, referring to FIG. 4, the teaching handle will be described. In the figure, a teaching handle 20
Is a force detector 21, a support portion 23 fixed to the detection end of the force detector 21, a contactor 24 arranged at the tip of the support portion 23 for contacting the work 17, and the support portion. A grip 22 arranged on the grip 23 for the operator 16 to grip and operate, and a force control direction changeover switch 25 for translational and rotational directions arranged on the grip 22.
It is composed of the ENTER key 26. The teaching handle 20 is connected to the wrist portion 1 of the robot by the other end of the force detector 21.
It can be attached to 2. Further, the support portion 23 has a mechanism (not shown) capable of adjusting the length and direction.
【０００７】次に本実施例の制御系の構成について説明
する。接触子２４をワーク１７に接触させた時の接触力
と、オペレータ１６が握り部２２を把持し操作する際の
並進方向と回転方向の操作力が力検出器２１で検出さ
れ、接触力と操作力の合力は力制御系３０ａによって各
関節の角度指令に変換される。前記角度指令は位置制御
系３０ｂに入力されアンプ３０ｃを介してロボット１１
が駆動される（図５参照）。ここで空間内の作業点を教
示する場合には、力検出器２１にはオペレータの並進方
向と回転方向の操作力が力制御切り換えスイッチ２５の
切り換えによって入力され、それらの力に応じて並進方
向と回転方向の力制御を行い、ロボットを誘導し作業点
の教示を行う。力制御切り換えスイッチ２５の役割は、
位置または姿勢を固定するためのものである。例えば、
並進方向の操作力２５ａを選択すると、回転方向（姿
勢）が固定されるので、姿勢を固定したまま位置を移動
させる場合にこれを選択する。回転方向の操作力２５ｂ
を選択すると、並進方向（位置）が固定されるので、位
置を固定したまま姿勢を変化させる場合にこれを選択す
る。操作力２５ｃを選択すると、位置・姿勢とも固定さ
れないので、位置・姿勢とも変化させる場合にこれを選
択する。これにより、ワークに対して作業ツールの位置
のみまたは姿勢のみの教示が可能となる。ＥＮＴＥＲキ
ー２６は、それが押されたときのみ位置・姿勢データを
ロボット制御装置内の記憶部３０ｄに取り込むようにす
るものである。またワーク上の作業点を教示する場合に
は、力検出器２１には前記操作力と接触子２４をワーク
１７に接触させた時の接触力との合力に応じて力制御が
行われ、ロボットを誘導し作業点の教示を行う。Next, the configuration of the control system of this embodiment will be described. The force detector 21 detects the contact force when the contactor 24 is brought into contact with the workpiece 17 and the operation force in the translational direction and the rotational direction when the operator 16 grips and operates the grip portion 22, and the contact force and the operation are detected. The resultant force is converted into an angle command for each joint by the force control system 30a. The angle command is input to the position control system 30b and is input to the robot 11 via the amplifier 30c.
Are driven (see FIG. 5). When teaching the working point in the space, the force detector 21 receives the operating force in the translational direction and the rotational direction of the operator by switching the force control changeover switch 25, and the translational direction in accordance with those forces. And force control in the direction of rotation to guide the robot and teach the working point. The role of the force control changeover switch 25 is
It is for fixing the position or posture. For example,
When the translational operation force 25a is selected, the rotation direction (posture) is fixed, so this is selected when the position is moved while the posture is fixed. Operating force in the direction of rotation 25b
When is selected, the translation direction (position) is fixed, so this is selected when the posture is changed while the position is fixed. When the operating force 25c is selected, neither the position nor the posture is fixed, so this is selected when changing the position or the posture. As a result, it is possible to teach only the position or the posture of the work tool to the work. The enter key 26 is for fetching the position / orientation data into the storage unit 30d in the robot controller only when the enter key 26 is pressed. Further, when teaching a work point on the work, force control is performed on the force detector 21 according to the resultant force of the operating force and the contact force when the contactor 24 is brought into contact with the work 17, and the robot is operated. To guide the working point.
【０００８】以上のように構成した本実施例について、
図３を用いて説明する。作業内容は特に２枚の板を突き
合わせで溶接する場合の溶接ロボットを例にして以下に
説明する。図に示すように、先ずオペレータ１６は溶接
トーチ１３の先端のチップ１４を取り外し、溶接ロボッ
トの手首部分１２に教示用ハンドル２０の力検出器２１
の他端を取り付け固定する。この時に、教示用ハンドル
２０の接触子２４の球状部の中心が溶接実行時の溶接ワ
イヤの先端位置に来るようにアーム部２３を調節し固定
する。次にオペレータ１６は教示用ハンドル２０の握り
部２２を把持し、任意の方向に握り部２２に力を加える
ことで、ワーク１７の溶接線１５の近くまで溶接ロボッ
ト１１を誘導する。ワーク上の溶接線の教示の場合に
は、教示用ハンドル２０の接触子２４を溶接開始点に押
しつけ、教示用ハンドル２０上にある力制御方向切り換
えスイッチ２５を回転方向側に切り換え、溶接トーチ１
３の溶接姿勢を決定後、力制御方向切り換えスイッチ２
５を並進方向側に切り換えると、溶接トーチ１３の溶接
姿勢を変えること無く、並進方向のみのロボットの誘導
が可能となる。そのため接触子２４を突き合わせ部分に
押し付けながら、オペレータ１６は接触子２４で溶接線
１５をなぞるように握り部２２を操作し、これらの作業
を溶接終了点まで繰り返すことにより、複雑な形状の溶
接線の教示を容易に短時間で正確に行うことが可能であ
る。ただし、軌跡全てを教示せず、始点、終点、変曲点
等のみを教示し、その間は公知の補間制御を行うように
してもよい。このようにして教示された位置・姿勢は記
憶部３０ｄに記憶され、再生動作時に読み出されること
になる。With respect to the present embodiment configured as described above,
This will be described with reference to FIG. The details of the work will be described below by taking a welding robot as an example when welding two plates by butt welding. As shown in the figure, first, the operator 16 removes the tip 14 of the welding torch 13 and attaches the force detector 21 of the teaching handle 20 to the wrist 12 of the welding robot.
Attach and fix the other end of. At this time, the arm portion 23 is adjusted and fixed so that the center of the spherical portion of the contactor 24 of the teaching handle 20 comes to the tip position of the welding wire at the time of executing the welding. Next, the operator 16 holds the grip portion 22 of the teaching handle 20 and applies a force to the grip portion 22 in an arbitrary direction to guide the welding robot 11 to the vicinity of the welding line 15 of the workpiece 17. In the case of teaching the welding line on the work, the contact 24 of the teaching handle 20 is pressed to the welding start point, and the force control direction changeover switch 25 on the teaching handle 20 is changed over to the rotation direction side to make the welding torch 1
After determining the welding position of 3, the force control direction changeover switch 2
When 5 is switched to the translation direction side, the robot can be guided only in the translation direction without changing the welding posture of the welding torch 13. Therefore, the operator 16 operates the grip portion 22 so as to trace the welding line 15 with the contact 24 while pressing the contact 24 against the abutting portion, and by repeating these operations until the welding end point, the welding line having a complicated shape is obtained. Can be taught easily and accurately in a short time. However, it is also possible to teach only the start point, the end point, the inflection point, etc., without teaching the entire locus, and perform known interpolation control during that time. The position / orientation taught in this manner is stored in the storage unit 30d and read during the reproducing operation.
【０００９】[0009]
【発明の効果】以上述べたように、本発明の直接教示型
の産業用ロボットの教示装置によれば、空間内の作業点
の教示の場合には、オペレータが教示用ハンドルの握り
部を把持し任意の方向に動かしロボットを誘導して教示
を行う。ワーク上の作業点の教示の場合には、接触子を
作業点に押し付けた接触状態で任意の方向に動かしロボ
ットを誘導して教示を行う。また並進方向の操作力と回
転方向の操作力に対する力制御の切り換えを行うこと
で、ワークに対して作業ツールの位置のみまたは姿勢の
みの教示が可能となるので、教示の操作が簡単で習熟を
要さず、作業者の肉体的精神的疲労度も小さくなる。さ
らに教示用ハンドルのアーム部分を作業ツールの形状に
合わせて調節することにより、１個の教示装置で多種多
様なロボットや作業ツールに適用することが可能であ
り、ロボットに教示のための特別な駆動機構を設ける必
要がないので構造が簡単で安価な教示装置を提供でき
る。As described above, according to the teaching apparatus for the direct teaching type industrial robot of the present invention, the operator grips the grip portion of the teaching handle when teaching the working point in the space. Then, move in any direction and guide the robot to teach. In the case of teaching a working point on a work, the robot is guided by moving the contactor in any direction in a contact state in which the contact point is pressed against the working point. Also, by switching the force control between the translational operation force and the rotational operation force, it is possible to teach only the position or posture of the work tool to the work, so the teaching operation is simple and familiar. It is not necessary, and the degree of physical and mental fatigue of the worker is reduced. Furthermore, by adjusting the arm portion of the teaching handle according to the shape of the work tool, it is possible to apply it to a wide variety of robots and work tools with one teaching device. Since it is not necessary to provide a driving mechanism, it is possible to provide an inexpensive teaching device having a simple structure.
【図１】本発明の一実施例を示す教示装置の斜視図FIG. 1 is a perspective view of a teaching device showing an embodiment of the present invention.
【図２】従来例の教示装置の斜視図FIG. 2 is a perspective view of a conventional teaching device.
【図３】本発明の一実施例を示す溶接作業の斜視図FIG. 3 is a perspective view of a welding operation showing an embodiment of the present invention.
【図４】本発明の一実施例を示す教示用ハンドルの正面
図FIG. 4 is a front view of a teaching handle showing an embodiment of the present invention.
【図５】本発明の一実施例を示す制御系のブロック線図FIG. 5 is a block diagram of a control system showing an embodiment of the present invention.
１１…ロボット １２…ロボットの手首部分 １３…溶接トーチ １４…チップ １５…溶接線 １６…オペレータ １７…ワーク ２０…教示用ハンドル ２１…力検出器 ２２…握り部 ２３…支持部 ２４…接触子 ２５…力制御方向切り換えスイッチ ２６…ＥＮＴＥＲキー ３０…ロボット制御装置 11 ... Robot 12 ... Robot wrist 13 ... Welding torch 14 ... Tip 15 ... Welding line 16 ... Operator 17 ... Work piece 20 ... Teaching handle 21 ... Force detector 22 ... Grip 23 ... Support 24 ... Contact 25 ... Force control direction switch 26 ... ENTER key 30 ... Robot control device
Claims (3)
姿勢を教示してロボット制御装置に記憶させ、再生動作
を行うロボットの直接教示装置において、 前記ロボットの先端部に、 力検出器と、前記力検出器の検出端に固定された支持部
と、前記支持部の先端に配置されてワークと接触するた
めの接触子と、前記支持部上に配置されオペレータが把
持し操作するための握り部とから構成される教示用ハン
ドル装置を設け、 前記ロボット制御装置内に前記力検出器で得た情報を基
に前記教示用ハンドル装置を用いた教示中にロボットの
力制御を行う制御手段を設けたことを特徴とするロボッ
トの直接教示装置。1. A robot is manually operated to move its position and
A direct teaching device for a robot that teaches a posture and stores the posture in a robot control device to perform a reproducing operation, wherein a force detector and a support unit fixed to a detection end of the force detector are provided at a tip end portion of the robot, A teaching handle device is provided, which is provided at a tip of the support portion and is configured to contact a work piece, and a grip portion that is disposed on the support portion and is gripped and operated by an operator. A direct teaching device for a robot, characterized in that control means is provided in the control device for performing force control of the robot during teaching using the teaching handle device based on information obtained by the force detector.
対する力制御の切り換えを行う手段を設けた請求項１記
載のロボットの直接教示装置。2. The direct teaching apparatus for a robot according to claim 1, further comprising means for switching force control between the translational operation force and the rotational operation force.
ようにした請求項１記載のロボットの直接教示装置。3. The direct teaching apparatus for a robot according to claim 1, wherein the length and the direction of the support portion can be adjusted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7053599A JPH08216074A (en) | 1995-02-17 | 1995-02-17 | Direct teaching device of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7053599A JPH08216074A (en) | 1995-02-17 | 1995-02-17 | Direct teaching device of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH08216074A true JPH08216074A (en) | 1996-08-27 |
Family
ID=12947352
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7053599A Pending JPH08216074A (en) | 1995-02-17 | 1995-02-17 | Direct teaching device of robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH08216074A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007334613A (en) * | 2006-06-14 | 2007-12-27 | Yaskawa Electric Corp | Control apparatus of robot |
| JP2014128843A (en) * | 2012-12-28 | 2014-07-10 | Toyota Motor Corp | Robot arm teaching system and robot arm teaching method |
| JP2015139831A (en) * | 2014-01-27 | 2015-08-03 | 株式会社Ihi | Polishing robot and polishing robot control method |
| WO2017064105A3 (en) * | 2015-10-12 | 2017-06-08 | Toolmotion GmbH | Multi-axis mouse for a multi-axis robot |
| CN107107342A (en) * | 2014-12-26 | 2017-08-29 | 川崎重工业株式会社 | The teaching system of dual-arm robot and the teaching method of dual-arm robot |
| CN107303671A (en) * | 2016-04-19 | 2017-10-31 | 上海技美科技股份有限公司 | Cooperate robot |
| CN108297056A (en) * | 2017-01-13 | 2018-07-20 | 发那科株式会社 | The safety for having robot ensures people's coordinating robot's system of holding function |
| US10551821B2 (en) | 2016-06-30 | 2020-02-04 | Seiko Epson Corporation | Robot, robot control apparatus and robot system |
| DE102019008337A1 (en) | 2018-12-07 | 2020-06-10 | Fanuc Corporation | CONTROL DEVICE OF A ROBOT FOR CARRYING OUT A MANUAL OPERATION BY MEANS OF A CONTROL DEVICE |
| CN111300433A (en) * | 2018-12-11 | 2020-06-19 | 沈阳新松机器人自动化股份有限公司 | Robot dragging teaching device based on six-dimensional force sensor |
| JP2020131314A (en) * | 2019-02-14 | 2020-08-31 | 株式会社デンソーウェーブ | Control device of robot and control method of robot |
| JP2020151807A (en) * | 2019-03-20 | 2020-09-24 | 株式会社デンソーウェーブ | Robot system |
| CN111867789A (en) * | 2018-01-25 | 2020-10-30 | 川崎重工业株式会社 | Robot teaching device |
| US11279021B2 (en) | 2018-09-27 | 2022-03-22 | Denso Wave Incorporated | Method and apparatus for controlling robots |
| JP2022176106A (en) * | 2021-05-14 | 2022-11-25 | 台達電子工業股▲ふん▼有限公司 | Dual-arm robot assembling system |
-
1995
- 1995-02-17 JP JP7053599A patent/JPH08216074A/en active Pending
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007334613A (en) * | 2006-06-14 | 2007-12-27 | Yaskawa Electric Corp | Control apparatus of robot |
| JP2014128843A (en) * | 2012-12-28 | 2014-07-10 | Toyota Motor Corp | Robot arm teaching system and robot arm teaching method |
| JP2015139831A (en) * | 2014-01-27 | 2015-08-03 | 株式会社Ihi | Polishing robot and polishing robot control method |
| CN107107342A (en) * | 2014-12-26 | 2017-08-29 | 川崎重工业株式会社 | The teaching system of dual-arm robot and the teaching method of dual-arm robot |
| WO2017064105A3 (en) * | 2015-10-12 | 2017-06-08 | Toolmotion GmbH | Multi-axis mouse for a multi-axis robot |
| CN107303671A (en) * | 2016-04-19 | 2017-10-31 | 上海技美科技股份有限公司 | Cooperate robot |
| US10551821B2 (en) | 2016-06-30 | 2020-02-04 | Seiko Epson Corporation | Robot, robot control apparatus and robot system |
| CN108297056B (en) * | 2017-01-13 | 2020-04-07 | 发那科株式会社 | Robot-coordinated robot system having function of ensuring safety of robot and performing work |
| CN108297056A (en) * | 2017-01-13 | 2018-07-20 | 发那科株式会社 | The safety for having robot ensures people's coordinating robot's system of holding function |
| CN111867789A (en) * | 2018-01-25 | 2020-10-30 | 川崎重工业株式会社 | Robot teaching device |
| US11279021B2 (en) | 2018-09-27 | 2022-03-22 | Denso Wave Incorporated | Method and apparatus for controlling robots |
| DE102019008337A1 (en) | 2018-12-07 | 2020-06-10 | Fanuc Corporation | CONTROL DEVICE OF A ROBOT FOR CARRYING OUT A MANUAL OPERATION BY MEANS OF A CONTROL DEVICE |
| US11858130B2 (en) | 2018-12-07 | 2024-01-02 | Fanuc Corporation | Controller of robot for performing manual operation by operation device |
| CN111300433A (en) * | 2018-12-11 | 2020-06-19 | 沈阳新松机器人自动化股份有限公司 | Robot dragging teaching device based on six-dimensional force sensor |
| JP2020131314A (en) * | 2019-02-14 | 2020-08-31 | 株式会社デンソーウェーブ | Control device of robot and control method of robot |
| JP2020151807A (en) * | 2019-03-20 | 2020-09-24 | 株式会社デンソーウェーブ | Robot system |
| JP2022176106A (en) * | 2021-05-14 | 2022-11-25 | 台達電子工業股▲ふん▼有限公司 | Dual-arm robot assembling system |
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