Patent Document ID: 9186792
Application ID: 14186062
Patent Flag: 1

Claim One:
1. A teaching system comprising: a display unit; an image generating unit configured to generate a virtual image of a robot, a workpiece as a work target of the robot and a positioner for holding the workpiece, the positioner having a plurality of axes; a display control unit configured to control the display unit to display the virtual image generated by the image generating unit; a work line generating unit configured to, upon receiving an operator's operation of selecting a ridgeline of the workpiece of the virtual image, extract individual teaching target points of the ridgeline and generate a work line as a set of line segments each interconnecting the target points adjoining each other; a calculation unit configured to calculate teaching values for the axes of the positioner on a point-by-point basis so that a vector direction of the work line at each of the target points becomes substantially parallel to a horizontal direction; and a teaching program generating unit configured to generate a teaching program for operating the positioner based on the teaching values calculated by the calculation unit, wherein when plural solutions are found by the calculation unit for the teaching values, the image generating unit renders the plural solutions to be included in the virtual image to allow an operator to select an appropriate solution among the plural solutions, and wherein when the operator selects one of the plural solutions, the image generating unit generates a new virtual image in which a position and a posture of the positioner has been changed based on teaching values corresponding to said one of the plural solutions.