METHOD AND DEVICE FOR TEACHING AND REPRODUCING ROBOT

• Main Authors: OGATA HIROYUKI, KANAMARU NAOYOSHI, KATAYAMA YUKIHISA, ENDOU KIMITAKA, TSUDA MASAYUKI
• Format: Patent
• Language: English
• Published: 16.12.1997
• Edition: 6
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION ORPROCESSING OF GOODS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOTDIRECTED TO A PARTICULAR RESULT; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g.ARRANGEMENTS FOR COPYING OR CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; HAND TOOLS; MACHINE TOOLS; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OFPARTICULAR DETAILS OR COMPONENTS; MANIPULATORS; METAL-WORKING NOT OTHERWISE PROVIDED FOR; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; REGULATING; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS; TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINSTCLIMATE CHANGE; TRANSPORTING

PROBLEM TO BE SOLVED: To provide a robot teaching/reproducing method capable of omitting labor for reteaching by flexibly dealing with changes in a working environment, work size and design. SOLUTION: A conditional equation set string generating device 4 converts the teaching information of a robot 10 into a conditional equation set string consisting of an equation/inequation set string related to objects A, B in a teaching environment by using a track teaching device 3 and stores the set string in a recording device 5. At the time of reproducing the operation of the robot 10 by an operation reproducing device 7, the equations/inequations of conditions related to objects A', B' in a working environment are obtained based on the positional posture information of the robot 10 and objects A', B' obtained by sensors 1, the conditional equation set string is converted so as to satisfy the equations/inequations of the conditions related to the objects A', B' in the working environment to generate a track and operate the robot 10.