| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot teaching method and teaching system which can implement surely a necessary and sufficient sweeping work by even unskilled persons, as well as shorten the time required for the entire teaching process including each process of sweeping space setting and movement plan.SOLUTION: A robot teaching system in the direct teaching method includes robot control means (T1) for detecting the position and/or the movement of a manipulator during the time of space sweeping, sweeping space calculating means (T2) for calculating a sweeping space during the time of sweeping work, movement planning means for generating an optimal or suboptimal movement path of the manipulator based on sweeping space information, and sweeping space display means (T3) for displaying the sweeping space information and/or the movement path on a screen during the time of sweeping work. |
