| 摘要 |
PROBLEM TO BE SOLVED: To provide a teaching device that eliminates complicated calculations by using a robot controller and improves positional accuracy of a robot, and to provide a teaching method.SOLUTION: A teaching device 30 includes: a teaching working arm 31 constituted of the same number of teaching joint axes as those of robot joint axes of an articulated robot 10 and teaching arms 34, 35, 36 configured with the same number and the same length as those of robot arms and sequentially coupled to one another at the teaching joint axes; a plurality of joint axis rotation detecting units for individually detecting rotation angles of the teaching joint axes; and a storage unit 47 for storing rotation angles from the respective joint axis rotation detecting units in a time-series manner when the teaching working arm is operated. |
