In a teaching system including a display unit, an image generating unit generates a virtual image of a robot, a workpiece and a positioner for holding the workpiece. A display control unit controls the display unit to display the generated virtual image. Upon receiving an operator's operation of sel
In a teaching system including a display unit, an image generating unit generates a virtual image of a robot, a workpiece and a positioner for holding the workpiece. A display control unit controls the display unit to display the generated virtual image. Upon receiving an operator's operation of selecting a ridgeline of the workpiece of the virtual image, a work line generating unit extracts individual teaching target points of the ridgeline and generates a work line as a set of line segments each interconnecting the target points adjoining each other. A calculation unit calculates teaching values for positions and postures of the positioner on a point-by-point basis so that a vector direction of the work line at each target point becomes substantially parallel to a horizontal direction. A teaching program generating unit generates a teaching program for operating the positioner based on the calculated teaching values.
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1. A teaching system comprising: a display unit;an image generating unit configured to generate a virtual image of a robot, a workpiece as a work target of the robot and a positioner for holding the workpiece, the positioner having a plurality of axes;a display control unit configured to control the
1. A teaching system comprising: a display unit;an image generating unit configured to generate a virtual image of a robot, a workpiece as a work target of the robot and a positioner for holding the workpiece, the positioner having a plurality of axes;a display control unit configured to control the display unit to display the virtual image generated by the image generating unit;a work line generating unit configured to, upon receiving an operator's operation of selecting a ridgeline of the workpiece of the virtual image, extract individual teaching target points of the ridgeline and generate a work line as a set of line segments each interconnecting the target points adjoining each other;a calculation unit configured to calculate teaching values for the axes of the positioner on a point-by-point basis so that a vector direction of the work line at each of the target points becomes substantially parallel to a horizontal direction; anda teaching program generating unit configured to generate a teaching program for operating the positioner based on the teaching values calculated by the calculation unit,wherein when plural solutions are found by the calculation unit for the teaching values, the image generating unit renders the plural solutions to be included in the virtual image to allow an operator to select an appropriate solution among the plural solutions, andwherein when the operator selects one of the plural solutions, the image generating unit generates a new virtual image in which a position and a posture of the positioner has been changed based on teaching values corresponding to said one of the plural solutions. 2. The teaching system of claim 1, wherein the calculation unit is configured to adjust the vector direction of the work line based on a value designated by the operator so that the vector direction of the work line becomes an arbitrary direction with respect to the horizontal direction. 3. The teaching system of claim 2, wherein the vector direction of the work line is adjusted to be inclined downward with respect to the horizontal direction. 4. The teaching system of claim 3, further comprising: a simulation instructing unit configured to cause the image generating unit to regenerate the virtual image including the positioner whose posture is changed in conformity with the teaching values calculated by the calculation unit. 5. The teaching system of claim 2, further comprising: a simulation instructing unit configured to cause the image generating unit to regenerate the virtual image including the positioner whose posture is changed in conformity with the teaching values calculated by the calculation unit. 6. The teaching system of claim 1, further comprising: a simulation instructing unit configured to cause the image generating unit to regenerate the virtual image including the positioner whose posture is changed in conformity with the teaching values calculated by the calculation unit. 7. The teaching system of claim 1, further comprising: a teaching data storage unit serving as a database configured to register the teaching program for operating the positioner and teaching data included into the teaching program. 8. A robot system comprising the teaching system of claim 1. 9. The robot system of claim 8, further comprising the robot, the positioner for holding the workpiece and a robot control device configured to control operations of the robot and the positioner. 10. The teaching system of claim 1, wherein the calculation unit calculates the teaching values by performing an inverse kinematics calculation. 11. A teaching method comprising: generating a virtual image of a robot system including a robot and a positioner for holding a workpiece as a work target of the robot, the positioner having a plurality of axes;controlling a display unit to display the generated virtual image in the image generating step;extracting individual teaching target points of a ridgeline of the workpiece of the virtual image which is selected by an operator's operation and generating a work line as a set of line segments each interconnecting the target points adjoining each other;calculating teaching values for the axes of the positioner on a point-by-point basis so that a vector direction of the work line at each of the target points becomes substantially parallel to a horizontal direction;generating a teaching program based on the calculated teaching values; andoperating the positioner holding the workpiece using the teaching program,wherein when plural solutions are found for the teaching values, the plural solutions are included in the displayed virtual image to allow an operator to select an appropriate solution among the plural solutions, andwherein when the operator selects one of the plural solutions, a new virtual image in which a position and a posture of the positioner has been changed based on teaching values corresponding to said one of the plural solutions is generated and displayed on the display unit. 12. The teaching method of claim 11, wherein, in said calculating, the teaching values are calculated by an inverse kinematics calculation. 13. The teaching method of claim 11, wherein said operating includes driving a rotation mechanism of the positioner using the teaching program. 14. The teaching method of claim 11, wherein said operating includes driving a rotation mechanism of the positioner using the teaching program such that a current work portion on the workpiece is substantially parallel to the horizontal direction.
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이 특허에 인용된 특허 (2)
Miyake Norihisa (Matsudo JPX) Sumita Masaki (Yachiyo JPX) Sarugaku Shinichi (Funabashi JPX), Method and apparatus for controlling tracking path of working point of industrial robot.
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