Patent ID: 6332101
Filing Date: 2001-12-18
Classification: B25J,G05B

Abstract:
An off-line teaching method for correcting robot models to be used in an off-line teaching system, comprising:a first step of performing 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 based on an error model corresponding to a modal of an actual robot, by using an off-line teaching apparatus;a second step of downloading teaching data obtained in said first step from said off-line teaching apparatus to a robot controller of said actual robot as a correction objective;a third step of revising said teaching data in said robot controller on the basis of a difference between an actual target point and an operation point of said actual robot based on said teaching data;a fourth step of uploading teaching data obtained after said revision from said robot controller to said offline teaching apparatus: anda fifth step of estimating and calculating a correction amount to obtain teaching data in said off-line teaching apparatus by using said uploaded data.