OFF-LINE TEACHING METHOD

摘要

Disclosed is an off-line teaching method for correcting a robot model to be used in an off-line teaching system. Multi-point multi-attitude teaching capable of obtaining the best correcting calculation result of those obtained with a logical robot model as a correction objective is performed by using an off-line teaching apparatus (steps S1 to S5). Teaching data obtained in the steps S1 to S5 is downloaded from the off-line teaching apparatus to an actual robot as a correction objective (step S6). Subsequently, the teaching data is revised on the basis of a difference between an actual target point and an operation point of the actual robot based on the teaching data (step S7). After that, teaching data obtained after the revision is uploaded to the off-line teaching apparatus (step S8) to estimate and calculate a correction amount by using the uploaded data (step S9). Accordingly, it is possible to stably obtain teaching data usable to accurately estimate the correction amount, and it is possible to decrease the number of working steps based on the use of the actual robot.