TEACHING DEVICE FOR A ROBOT PROVIDED WITH A GUIDANCE PART FOR DETERMINING THE POSITION AND POSITION OF THE END EFFECTOR

摘要

A teaching apparatus for a robot includes a force sensor disposed between an arm of a robot and an end effector, and a guide member fixed to the end effector. An object includes a recessed part. The recessed part has a reference surface, with which the target surface of the end part of the guide part is brought into surface contact, to determine a position and a position of the robot. A robot controller executes a control to bring the target surface of the guide member into contact with the reference surface of the recessed portion to determine a teaching position of the robot based on the direction of a force exerted on the end effector.