METHOD FOR TEACHING DIRECTLY A ROBOT, METHOD FOR AMENDING TEACHING DATA, AND APPARATUS FOR CONTROLLING THE ROBOT

摘要

PURPOSE: A method for directly teaching a robot, a method for correcting teaching data, and a device for controlling the robot are provided to shorten playing times of the robot as the data in a section in which the robot stops among the teaching data stored after a direct teaching work is automatically or selectively corrected. CONSTITUTION: A method for directly teaching a robot comprises the following steps: preparing inserting components including first and second pegs and non-inserting components having a hole in which each peg can be inserted; grasping the central position of the first peg (S101); performing a work firstly connecting a first hole in which the first peg among holes formed in the non-inserting components is inserted into the first peg by the robot (S102); firstly inserting the first peg into the first hole (S103); connecting a second hole of the non-inserting components to a second peg of the inserting components by the robot (S104); and secondly inserting the second peg into the second hole (S105). The inserting component has two or more pegs. The size of the first peg is greater than the second peg and the first peg grasps the center position. [Reference numerals] (AA) Operator gives instructions; (BB) Robot provides supports; (S101) Grasping the central position of the first peg; (S102) Performing a first connection; (S103,S105) Performing a first insertion; (S104) Performing a second connection