METHOD FOR DIRECTLY TEACHING AND REGENERATING A ROBOT, AND ROBOT CONTROLLER IMPLEMENTING THE SAME, CAPABLE OF IMPLEMENTING A WORK CHARACTERISTIC DESIRED BY A WORKER AT A POINT DESIRED BY THE WORKER SINCE THE ROBOT RECOGNIZE THE MOTIONAL INTENTION OF THE WORKER

摘要

PURPOSE: A method for directly teaching and regenerating a robot, and robot controller implementing the same are provided to provide the information of obstacles to a worker by having a proper motion characteristic on a contact work regardless of the intention of the worker.;CONSTITUTION: A method for directly teaching and regenerating a robot includes: a direct teaching step of implementing a work through the robot by the direct teaching of a worker; and a regenerating step of implementing the work by regenerating the robot based on data from the direct teaching. The direct teaching step includes: a step of observing one of the teaching force and the motion speed of the robot; a step of allowing the robot to recognize the motional intention of the worker by comparing a predetermined boundary value with at least one of the measure teaching force and the measure motion velocity of the robot; and a step of implementing the work mode of the robot matched with a desired performance according to the result from the previous step. In the direct teaching step, contact force between a target and obstacles is further observed, and the work mode of the robot is changed by comparison between the measured contact force and a predetermined limit value. The work mode of the robot includes a contact work mode for a precise work, and a non-contact work mode for a high speed work.;COPYRIGHT KIPO 2013;[Reference numerals] (AA) Start; (BB) Observing Fh, Xe, and Fe; (CC,GG) No; (DD) Precise work; (EE,HH) Yes; (FF) High-speed work