TEACHING SYSTEM, ROBOT SYSTEM, AND TEACHING METHOD

摘要

A teaching system (10) includes: a teaching-data generating unit (111e) configured to generate teaching data of a robot (30) having a joint in a virtual environment including a work tool (35), the robot (30), and a workpiece (W) to which a plurality of working points (WP) is preliminarily set, the teaching data causing the robot (30) to move one of the work tool (35) and the workpiece (W) passing through approach points (A) corresponding to the respective working points (WP) to cause the work tool (35) to relatively reach and separate from the working points (WP); a determining unit (111f) configured to determine whether a virtual line (H) interferes with another of the workpiece (W) and the work tool (35), the virtual line (H) connecting the approach points (A) of the consecutively worked working points (WP) together; and a teaching-data updating unit (111g) capable of changing a position of the approach point (A) on the virtual line (H).