JPS6472205A - Robot teaching method - Google Patents

Abstract

PURPOSE:To reduce a teaching error and to shorten the teaching time of a robot by calculating a palletizing point by teaching the robot an original point, the final point in a certain direction against the original point, the final point in another direction against the original point, and the final point in the diagonal direction between said two directions as the reference points respectively. CONSTITUTION:In a two-dimensional state, an original point O, a final point A in the X axis direction, the final point B of the Y axis direction and the final point C in the diagonal direction are defined as the reference points. While five points, e.g., the points O, A, B, the final point C in the Z axis direction, and the final point C in the diagonal direction of an X-Y plane are selected as the reference points in a three-dimensional state. In other words, >=4 points including the one set on a diagonal line are used as the teaching points in a two-dimensional palletizing job together with >=5 points including the one on the diagonal line used as the teaching points in a three-dimensional palletizing job respectively. Thus all palletizing points are calculated together with their points with high accuracy. Then the robot teaching man-hour is reduced owing to a small number of teaching points.