ROBOT CONTROL DEVICE, ROBOT CONTROL SYSTEM AND TEACHING METHOD

To generate a stable processing route by direct teaching.SOLUTION: A robot control device for controlling motions of a robot having an end effector for processing a work includes a control unit for acquiring trajectory data of the end effector when processing the work in a direct teaching mode in wh...

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Hauptverfasser:	YASUI SHO, SHIBAZAKI NOBUHIRO
Format:	Patent
Sprache:	eng ; jpn
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS HAND TOOLS MANIPULATORS MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS REGULATING TRANSPORTING
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Zusammenfassung:	To generate a stable processing route by direct teaching.SOLUTION: A robot control device for controlling motions of a robot having an end effector for processing a work includes a control unit for acquiring trajectory data of the end effector when processing the work in a direct teaching mode in which an operator directly teaches motions to the robot by directly moving the robot. The control unit controls the end effector to generate pressing force with respect to the work in the direct teaching mode.SELECTED DRAWING: Figure 1 【課題】直接教示で安定した加工経路を生成することができる。【解決手段】ワークを加工するエンドエフェクタを有するロボットの動作を制御するロボット制御装置であって、作業者が前記ロボットを直接動かすことで前記ロボットの動作の教示作業を行う直接教示モードにおいて、前記ワークを加工するときの前記エンドエフェクタの軌道データを取得する制御部を備え、前記制御部は、前記直接教示モードにおいて、前記ワークに対する前記エンドエフェクタの押し付け力を発生させることを特徴とする、ロボット制御装置である。【選択図】図１