TEACHING POSITION CORRECTING APPARATUS AND TEACHING POSITION CORRECTION METHOD

Abstract

A teaching position correcting apparatus (1) corrects plural teaching point positions of a robot (2) in a robot operation program, by sequentially moving the robot (2) to each of the plural teaching points and by sequentially reading a current position of the robot (2) at each of the plural teaching points. The teaching position correcting apparatus (1) includes: a position correction amount calculating means (11a) that calculates a position correction amount (A), based on corrected teaching point positions and teaching point positions before correction; and a corrected-position calculating means (11b) that calculates corrected positions of teaching point positions before correction out of the plural teaching points, based on the position correction amount (A). At the time of moving the robot to uncorrected teaching points, a moving means (15) moves the robot to corrected positions of the teaching point positions before correction. Based on the above operation, even when a posture change of the robot is large, teaching point positions in the operation program can be corrected accurately in short time.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a configuration diagram of a robot control apparatus according to one embodiment of the present invention.

FIG. 2 is a block diagram of relevant parts of the robot control apparatus according to the embodiment.

FIG. 3 is a flowchart showing a process of correcting teaching points according to the present invention.

FIG. 4 is a flowchart showing a process of calculating a correction matrix according to the present invention.

FIG. 5 is a flowchart showing a process of calculating a corrected position according to the present invention.

FIG. 6 is a flowchart showing a process of collectively correcting teaching positions of a separate program using a result of correcting teaching points of a certain program.

FIG. 7 is an explanatory diagram of a teaching position correction operation according to a conventional technique.

FIG. 8 is an explanatory diagram of a teaching position correction operation according to the present invention.

Claims

1. A teaching position correcting apparatus that corrects a plurality of teaching point positions of a robot in a robot operation program, in the teaching position correcting apparatus, a plurality of teaching point positions in the operation program are corrected by moving the robot to each of a plurality of teaching points and by reading a current position of the robot at each of the plurality of teaching points,the teaching point correcting apparatus comprises:a position correction amount calculating means that calculates a position correction amount for teaching point positions before correction, based on corrected teaching point positions out of the plurality of teaching point positions and the teaching point positions before correction corresponding to the corrected teaching point positions;a corrected-position calculating means that calculates corrected positions of teaching point positions before correction out of the plurality of teaching points, based on the position correction amount calculated by the position correction amount calculating means; anda moving means that moves the robot to corrected positions of the teaching point positions before correction calculated by the corrected-position calculating means, at the time of moving the robot to the teaching points before correction.

2. The teaching position correcting apparatus according to claim 1, wherein an offline programming apparatus generates the robot operation program.

3. The teaching position correcting apparatus according to claim 1, wherein the operation program is generated before a relative positional relationship between the robot and the workpiece changes, and the teaching point position is corrected after the relative positional relationship between the robot and the workpiece changes.

4. The teaching position correcting apparatus according to claim 1, wherein the teaching point position before correction is within an operation program which is the same as the operation program containing the corrected teaching point position.

5. The teaching position correcting apparatus according to claim 1, wherein the teaching point position before correction is within an operation program different from the operation program containing the corrected teaching point position.

6. The teaching position correcting apparatus according to claim 1, wherein the position correction amount calculating means recalculates the position correction amount each time one or a plurality of teaching points are corrected.

7. The teaching position correcting apparatus according to claim 1, further comprising a teaching console of the robot, wherein calculating the position correction amount by the position correction amount calculating means and calculating a corrected position of the teaching point position before correction by the corrected-position calculating unit, are conducted through the teaching console.

8. A teaching position correction method for correcting a plurality of teaching point positions of a robot in a robot operation program, in the teaching position correcting method, a plurality of teaching point positions in the operation program are corrected by moving the robot to each of a plurality of teaching points and by reading a current position of the robot at each of the plurality of teaching points,the teaching point correction method includes a step of:calculating a position correction amount for teaching point positions before correction, based on corrected teaching point positions out of the plurality of teaching point positions and the teaching point positions before correction corresponding to the corrected teaching point positions;calculating corrected positions of teaching point positions before correction out of the plurality of teaching points, based on the position correction amount; andmoving the robot to corrected positions of the teaching point positions before correction, at the time of moving the robot to the teaching points before correction.

9. The teaching position correction method according to claim 8, wherein the position correction amount is recalculated each time one or a plurality of teaching points are corrected.