ROBOT CONTROL METHOD, ROBOT CONTROL PROGRAM, AND TEACHING PENDANT USED FOR ROBOT CONTROL METHOD

摘要

PROBLEM TO BE SOLVED: To provide a teaching method for a robot control system capable of automatically performing teaching without performing teaching work in which change of a position and a direction of an actual robot hand is repeated by operating a teaching pendant by a worker, and a robot control system for performing teaching by the teaching method.;SOLUTION: One embodiment of the teaching method includes: a first photographing step for performing photographing by a conveyable camera 8 so as to include a marker 23 of a tray 20; a first image processing step for performing determination checking with data previously registered in every tray 20 by detecting the marker 23 from the image; an initial movement step for moving the robot hand 31 to an initial position according to the corresponding marker 23; a second photographing step for performing photographing by a small sized camera 34 of the robot hand 31 so as to include at least one of the markers 23; and a second image processing step for detecting position error of the marker 23 from the image.;COPYRIGHT: (C)2011,JPO&INPIT