ROBOT CONTROL METHOD

摘要

A robot control method includes a teaching step, first processing step, modifying step, second processing step, and third processing step. In the modifying step, a third teaching point is changed to a second modified point, a fourth teaching point to a third modified point, and a fifth teaching point to a fourth modified point, based on a difference between a second teaching point and a first modified point. A profile modifying control to change the position of a work tool is applied, using a sensor mounted on the processing advancing direction side of the work tool, in the first processing step and the third processing step. An attitude of the work tool is changed during the second processing step.

主权项

1. A robot control method comprising:
teaching step for setting a first teaching point, a second teaching point, a third teaching point, a fourth teaching point, and a fifth teaching point in this order on a bent processing line of a workpiece; first processing step for processing the workpiece from the first teaching point to a first modified point; modifying step for changing the third teaching point to a second modified point, the fourth teaching point to a third modified point, and the fifth teaching point to a fourth modified point, based on a difference between the second teaching point and the first modified point; second processing step for processing the workpiece from the first modified point to the third modified point via the second modified point; and third processing step for processing the workpiece from the third modified point to the fourth modified point, wherein the third teaching point is a point where the processing line is bent, a profile modifying control is applied in the first processing step and the third processing step to change a position of a work tool, using a sensor mounted on a processing advancing direction side of the work tool, the first modified point is a point reached by the profile modifying control in the first processing step based on the second teaching point, and an attitude of the work tool is changed during the second processing step.