| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot teaching device and a robot control device, which reduce a burden of teaching work by a worker, by eliminating the initial setting work of the worker within the operation range of a robot and the allowable range of force-sensitive sensor output required for each kind of part. SOLUTION: A passage teaching system 127 allows a robot hand 102 to perform an extraction operation of an installation work 140, while searching the positional attitude of the robot hand 102 which does not apply an excessive force working on the installation work 140, by allowing the robot hand 102 to grip the installation work 140 installed to an installation object work 150. The passage teaching system 127 acquires the extracting moving passage of the robot hand 102 in its extraction operation. The passage teaching system 127 generates a passage of following the acquired extracting moving passage in time series inverse order as an installation work passage, and teaches its generated installation work passage to an operation control part 121. COPYRIGHT: (C)2011,JPO&INPIT |
