US 12,280,502 B2
Robot teaching device and robot teaching program
Shinya Kitano, Kobe (JP); Kazuo Fujimori, Kobe (JP); and Yukihiro Kawaguchi, Kobe (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Appl. No. 18/013,150
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
PCT Filed Jun. 15, 2021, PCT No. PCT/JP2021/022644
§ 371(c)(1), (2) Date Dec. 27, 2022,
PCT Pub. No. WO2021/261325, PCT Pub. Date Dec. 30, 2021.
Claims priority of application No. 2020-110186 (JP), filed on Jun. 26, 2020.
Prior Publication US 2023/0241769 A1, Aug. 3, 2023
Int. Cl. B25J 9/16 (2006.01); B65G 47/90 (2006.01)
CPC B25J 9/163 (2013.01) [B65G 47/905 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A teaching device for a robot including a base, an arm having a plurality of links coupled to each other and coupled to the base, and an end effector coupled to the arm, comprising:
a setter that sets a predetermined condition including start and end points of the end effector in predetermined movement of the arm;
a deriver that derives a movement trajectory of the end effector from the start point to the end point and a movement trajectory of the arm according to the movement trajectory of the end effector based on the predetermined condition;
a display that displays both the movement trajectory of the arm and the movement trajectory of the end effector, the movement trajectories being derived by the deriver; and
a corrector that corrects the movement trajectory displayed on the display according to user's input operation, wherein
the display displays both the corrected movement trajectory of the arm and the corrected movement trajectory of the end effector.