US 11,839,971 B2
Teaching control method for robot, robot system, and computer program
Hiroki Murakami, Matsumoto (JP); and Takahiko Noda, Kiso (JP)
Assigned to SEIKO EPSON CORPORATION
Filed by Seiko Epson Corporation, Tokyo (JP)
Filed on Jul. 21, 2021, as Appl. No. 17/381,365.
Claims priority of application No. 2020-125031 (JP), filed on Jul. 22, 2020.
Prior Publication US 2022/0024029 A1, Jan. 27, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 9/00 (2006.01); G05B 19/425 (2006.01)
CPC B25J 9/0081 (2013.01) [B25J 9/1651 (2013.01); G05B 19/425 (2013.01); G05B 2219/40123 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A teaching control method for causing a processor to perform a process, the teaching control method comprising executing on the processor the steps of:
acquiring a plurality of teaching points, a number of the plurality of teaching points being three or more;
displaying the plurality of teaching points on a display;
classifying the plurality of teaching points into one or more teaching point groups, at least one of the one or more teaching point groups including at least three teaching points among the plurality of teaching points, each of the one or more teaching point groups having at least one teaching point pair that is configured by two adjacent teaching points;
receiving an input indicating an operation parameter for each of the one or more teaching point groups via an input interface;
setting an acceleration and a speed for moving a control point of a robot between the two adjacent teaching points in the at least one teaching point pair of each of the one or more teaching point groups based on the operation parameter;
creating an operation program based on the set acceleration and the set speed; and
operating the robot based on the operation program,
wherein the set acceleration and the set speed are different among two groups of the one or more teaching point groups, and
the set acceleration and the set speed are the same for each of the at least one teaching point pair among each group of the one or more teaching point groups.