Method for teach-in of a robot and robot arm control device

摘要

By repeating, for each control and / or regulating axis (J), that an axis angle (θ) of each control and / or regulating axis (J) of an arm is detected during a direct teach-in of a robot, a current position (P) of a standard point (K) defined on the arm or a tool is obtained based on the axis angle (θ), a position command value (T) using a position obtained by projecting the current position (P) to one given movement path (moving direction) is generated as a target position (Pcom), and each control and / or control axis (J) is driven based on the position setpoint (T) until a deviation from a target angle (θ), which the position setpoint (Tcom ), and the detected axis angle (θ), or a deviation from the target position value (T) and the current position (P) of the standard point (K) corresponding to the detected axis angle (θ) reaches a given value or less t, a teach-in of position information of the arm into the robot occurs after the deviation becomes the given value or less.