Direct Robot Teaching Method, Teaching Data Correction Method, and Robot Control Device

Direct Robot Teaching System

This technology combines direct operator teaching with automated robot control assistance for peg-in-hole assembly processes involving multi-peg components. It optimizes robot playback performance by automatically or selectively removing teaching data from unnecessary segments where no robot movement occurs, using linear and angular velocity analysis.

Conventional position-based direct teaching is difficult to implement for complex assembly tasks involving contact, such as inserting multiple pegs. Furthermore, inefficient stationary data generated during manual teaching by operators often leads to unnecessary delays in robot playback time.

This technology establishes a teaching procedure for inserting multiple pegs of varying lengths in stages (primary and secondary). It applies a data editing algorithm that analyzes the linear and angular velocity components based on the robot's tool coordinate system to identify stationary segments, then automatically or selectively removes that data via a user interface. Applicable to robot gripping, precision measurement, and automated equipment, it improves overall assembly efficiency and reduces robot playback time.

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Key Features:

• A step in which the robot performs the primary alignment of the first peg with the first hole among the holes formed in the target component.
• A step in which the robot performs the alignment of the second peg of the insertion component with the second hole of the target component.
• A step in which the primary insertion of the first peg into the first hole is performed.
• A step in which the secondary insertion of the second peg into the second hole is performed.