A robot teaching system includes a teaching unit and a robot including a robotic arm and a robot controller. In the robot teaching system, a workpiece includes an internal space having an opening, and a target object of a work by the end effector exists in the internal space. The robot controller determines a possibility that the arm part interferes with an edge of the opening while the robotic arm is jogging or inching.

A control device includes: an input unit; a motor driving control unit; an amount-of-movement detecting unit; a coordinate position detecting unit; a display unit; and a rounding processing unit configured to perform rounding processing to round the coordinate position and the amount of movement of an object to be moved, to a rounding place corresponding to an axial feed rate. The motor driving control unit drives motors such that at least one of the coordinate position and the amount of movement of the moved object is rounded.

A robotic system includes a user interface configured to receive a jog command for manually operating a robotic unit; a control unit, coupled to the user interface, configured to: real-time parallel process the jog command including to: execute a collision check thread to determine whether the jog command results in a collision or results in an unobstructed status for the robotic unit within an operation environment based on an environment model and a robot model, execute a jog operation thread to determine whether the unobstructed status is provided within a collision check time limit; and execute the jog command by the robotic unit based on the unobstructed status provided before the collision check time limit.

A robot teaching system includes a teaching unit and a robot including a robotic arm and a robot controller. In the robot teaching system, a workpiece includes an internal space having an opening, and a target object of a work by the end effector exists in the internal space. The robot controller determines a possibility that the arm part interferes with an edge of the opening while the robotic arm is jogging or inching.

A robot control device is provided with a display unit for displaying a three-dimensional image of a jog coordinate system and a robot, and an input unit including keys corresponding to coordinate axes of the jog coordinate system. The input unit is formed so that an operator operates an image on the display unit. A display control unit changes the image so that the direction of the jog coordinate system is fixed while the direction of the robot changes in accordance with the operation of the operator in the input unit. When the operator pushes the key, a manual control unit changes the position and orientation of the robot based on the direction of the jog coordinate system with respect to the robot in the image.

A control device includes: an input unit; a motor driving control unit; an amount-of-movement detecting unit; a coordinate position detecting unit; a display unit; and a rounding processing unit configured to perform rounding processing to round the coordinate position and the amount of movement of an object to be moved, to a rounding place corresponding to an axial feed rate. The motor driving control unit drives motors such that at least one of the coordinate position and the amount of movement of the moved object is rounded.

A robot control device is provided with a display unit for displaying a three-dimensional image of a jog coordinate system and a robot, and an input unit including keys corresponding to coordinate axes of the jog coordinate system. The input unit is formed so that an operator operates an image on the display unit. A display control unit changes the image so that the direction of the jog coordinate system is fixed while the direction of the robot changes in accordance with the operation of the operator in the input unit. When the operator pushes the key, a manual control unit changes the position and orientation of the robot based on the direction of the jog coordinate system with respect to the robot in the image.

The present invention is configured such that: when an operator moves a spindle and a table relative to each other using a jog-feed means and when a measurement probe comes into contact with a workpiece fixed on the table, the coordinates of each feed axis are stored; the type of measurement performed by the operator is identified on the basis of the information concerning the feed axis used for moving said measurement probe, the moving direction of the feed axis, the number of times the measurement probe has come into contact with the workpiece, and the number of the jog-feed operation being currently performed by the operator; and the workpiece is measured on the basis of the stored coordinates of the respective feed axes.

Systems and methods are provided to facilitate correct execution of a machine jog operation where a plurality of interfaces can generate a machine jog command, which is received by an industrial controller. One or more machine jog commands can be received and state data is maintained regarding whether a machine jog command has been received. An OR gate logic operation is performed on the state data to determine whether a machine jog operation has been received from any of the plurality of interfaces, and in the event of receiving a machine jog operation, a control command is generated to effect a machine jog operation. The plurality of interfaces enable interaction with the controller, to facilitate control of a machine from a plurality of locations. The system can be expanded to include further interfaces. Also, information regarding a machine jog command can be published to the plurality of interfaces.

An off-line-programming jog assist device includes a teaching-point setting unit that sets a teaching point specified by a user on a surface of an object that is disposed in a virtual space and that has a ridgeline; a ridgeline searching unit that searches for a point on the ridgeline in the vicinity of the teaching point; a direction calculating unit that calculates a tangential direction, a principal-normal direction, and a binormal direction at the point on the ridgeline; and a target-coordinate-system calculating unit that calculates a target coordinate system on the basis of the position of the point on the ridgeline, the tangential direction, the principal-normal direction, the binormal direction, and predetermined parameters; and a move-command generating unit that generates a move command so as to cause a tool coordinate system that is set for a robot in the virtual space to coincide with the target coordinate system.