US 11,667,031 B2
Teaching method
Hiroki Adachi, Matsumoto (JP)
Assigned to SEIKO EPSON CORPORATION
Filed by Seiko Epson Corporation, Tokyo (JP)
Filed on May 29, 2020, as Appl. No. 16/886,922.
Claims priority of application No. JP2019-102215 (JP), filed on May 31, 2019.
Prior Publication US 2020/0376657 A1, Dec. 3, 2020
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/163 (2013.01) [B25J 9/1697 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A teaching method for causing a processor to execute a process, the teaching method comprising executing on the processor the steps of:
first imaging a teaching jig located at a first position to acquire a first captured image, the teaching jig having a marker on a periphery of the teaching jig, the teaching jig being configured to be moved by an operator, the first captured image including an image of the marker;
first detecting a first coordinate of the first position and a first posture of the teaching jig based on the first captured image and a robot coordinate system;
first moving a robot arm of a robot toward the teaching jig located at the first position based on the detected first coordinate, the detected first posture, and the robot coordinate system;
first stopping the first movement of the robot arm and acquiring a first teaching signal when the processor determines that a first relative locational relationship between the robot arm and the teaching jig at the first position is a predetermined relation, the first teaching signal including first teaching information relating to the detected first coordinate, the detected first posture, and the first relative locational relationship,
moving the teaching jig to a second position from the first position and stopping the teaching jig at the second position after the first teaching signal is acquired;
second imaging the teaching jig at the second position to acquire a second captured image;
second detecting a second coordinate of the second position and a second posture of the teaching jig based on the second captured image and the robot coordinate system;
second moving the robot arm toward the teaching jig located at the second position based on the detected second coordinate, the detected second posture, and the robot coordinate system;
second stopping the second movement of the robot arm and acquiring a second teaching signal when the processor determines that a second relative locational relationship between the robot arm and the teaching jig at the second position is the predetermined relation, the second teaching signal including second teaching information relating to the detected second coordinate, the detected second posture, and the second relative locational relationship; and
operating the robot arm based on the first and second teaching information.