ROBOT HAVING TEACHING SYSTEM AND TEACHING METHOD THEREOF

摘要

Disclosed are a robot having a teaching system enhanced to be driven stably and precisely at low costs by a simple control logic, and a teaching method thereof. The robot comprises a hand for supporting or fixing a workpiece; a robot arm for connecting the hand to be able to rotate or linearly move; a driving part for driving the robot arm to be rotated or linearly moved; a displacement sensor part for detecting the rotational displacement or linear displacement of the robot arm; a timer for generating signals at set time intervals; a storage part for receiving and storing displacement information obtained by the displacement sensor part at the time intervals set by the timer; and a control part for transmitting driving signals to the driving part based on the displacement per unit time stored in the storage part. Also, the teaching method of the robot comprises a step of moving the workpiece or the hand to at least one target; a step of detecting the rotational displacement or linear displacement of the robot arm through the displacement sensor part; a step of storing the displacement information obtained by the displacement sensor part at the set time intervals in the storage part; and a step of making the control part transmit the driving signals to the driving part based on the displacement per unit time stored in the storage part. Thus, the present invention can be performed at low costs using the timer and the displacement sensor and enable stable and precise driving by the simple control logic.;COPYRIGHT KIPO 2014