ROBOT MOTION TEACHING WORK SUPPORT APPARATUS AND ROBOT MOTION TEACHING SUPPORT METHOD

摘要

PROBLEM TO BE SOLVED: To support teaching work while suppressing cost.SOLUTION: A teaching work support apparatus (1) comprises: a teaching jig (18) which is attached to a robot (10) and creates a plurality of provisional teaching points by touching up a groove (16) along the groove a plurality of times in a state in which a die (15) is fixed; a coordinate value calculation unit (21) which calculates coordinate values of a plurality of actual robot teaching points on the basis of a distance from a grip position at which the robot grips a string-like workpiece (W) so as to suspend the string-like workpiece to a lower end of the string-like workpiece and coordinate values of the plurality of provisional teaching points; and a speed calculation unit (22) which calculates a descent speed of the robot between the plurality of robot teaching points on the basis of distances between the plurality of robot teaching points, horizontal distances between the plurality of provisional teaching points corresponding to the plurality of robot teaching points, respectively, and a constant speed of the die.SELECTED DRAWING: Figure 1