US 12,280,501 B2
Robot teaching method and robot working method
Kazuki Kurashima, Kobe (JP); Hitoshi Hasunuma, Kobe (JP); Takeshi Yamamoto, Kobe (JP); Masaomi Iida, Kobe (JP); and Tomomi Sano, Kobe (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Appl. No. 18/012,770
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
PCT Filed Jun. 21, 2021, PCT No. PCT/JP2021/023288
§ 371(c)(1), (2) Date Dec. 23, 2022,
PCT Pub. No. WO2021/261411, PCT Pub. Date Dec. 30, 2021.
Claims priority of application No. 2020-107459 (JP), filed on Jun. 23, 2020.
Prior Publication US 2023/0249341 A1, Aug. 10, 2023
Int. Cl. B25J 9/16 (2006.01); G05B 19/423 (2006.01)
CPC B25J 9/163 (2013.01) [B25J 9/1697 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A robot teaching method for an industrial robot comprising:
a pre-registration step for specifying a relative self-position of a measuring device with respect to a surrounding environment by measuring the surrounding environment using the measuring device, and registering an environment teaching point that is a teaching point of the industrial robot specified using the relative self-position;
a robot operation step for automatically operating the industrial robot so that the relative self-position of the industrial robot with respect to the surrounding environment becomes equal to the environment teaching point, based on a measuring result of the surrounding environment by the measuring device, in a state where the measuring device is attached to the industrial robot; and
a teaching step for registering a detection value of a position and a posture of the industrial robot measured by a sensor as teaching information in a state where the relative self-position of the industrial robot with respect to the surrounding environment becomes equal to the environment teaching point.