| 摘要 |
PROBLEM TO BE SOLVED: To provide a teaching method and a teaching tool for a robot system in which the structure of the robot system causes no complication nor an increase in size, no exclusive calibration tool is required for a teaching operation, neither the deviation of a position nor inclination occurs by each teaching operation, and the teaching operation can be performed quickly. SOLUTION: The teaching method for the robot system includes steps for: detecting a position of a reference plane 10 by gripping a gripping member 9 using a manipulator 1 and copying a flat surface 11 with the reference surface 10; detecting a position and the inclination of a reference cylindrical body 6 by fitting a cylindrical portion 12 with the reference cylindrical body; detecting an angle of rotation around the reference cylindrical body 6 by rotating the gripping member 9 around the axis of the reference cylindrical body 6 until the gripping member is blocked by a rotation preventing member 7; and based on those data, obtaining a relative position among the reference plane 10, the reference cylindrical body 6 and the rotation preventing member 7, and a relative position and inclination between the position and the inclination of an object workpiece whose inclination is known and the manipulator 1. COPYRIGHT: (C)2010,JPO&INPIT
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