JP2013107179A - Editing method for direct teaching data, and parallel link robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an editing method for direct teaching data, capable of cutting back a repetition of operation check and re-teaching while making use of features, such as being intuitive and easy to understand, of direct teaching.SOLUTION: When editing re-teaching data directly taught by activating a parallel link robot as a result of updating the teaching data in the editing region (21) as part of the teaching data on the postures of the parallel link robot, the re-teaching data (p1, p2, to pn-1) are edited as the teaching data in the editing region (21) after offsetting (p1-Δ, p2-Δ, to pn-1-Δ)by an offset quantity (Δ) corresponding to the position and posture to be decided by the teaching data (P) just before the editing region (21).

Description

  The present invention relates to an industrial robot using a parallel mechanism.

FIG. 7 shows a schematic configuration of a parallel link robot which is one of industrial robots using a parallel mechanism.
As shown in FIG. 7, the parallel link robot 1 includes a fixed plate 2, a movable plate 3 to which an action member such as an end effector 8 for gripping an object is attached, and a space between the fixed plate 2 and the movable plate 3. It consists of a plurality of arms 4 and rods 7 to be connected.

  The plurality of arms 4 are attached to the fixed plate 2 so as to turn around a unique axis in a unique plane. The connection point between the tip of the arm 4 and the base end of the rod 7 and the connection point between the tip of the rod 7 and the movable plate 3 are coupled by a bearing 9 such as a ball joint that freely turns in the space. Each arm 4 and rod 7 can be changed in position and posture in space while being coupled and restrained by the movable plate 3.

  The parallel link robot 1 rotates each arm 4 with a driving source such as each motor 5 through a plate 6 and detects the rotational position of each arm 4 by an encoder 14 attached to each motor 5. Thus, the position and posture of the movable plate 3 are controlled.

  Such a movable plate 3 of the parallel link robot 1 has no heavy object such as a drive source, has an extremely light structure, and is suitable for high-speed operation. Therefore, a direct teaching method has been proposed in which a teacher teaches the operation position and posture of a robot by directly moving the movable plate 3 by utilizing the fact that the movable plate 3 has a lightweight structure.

  Although it is not a parallel link robot, there exists a thing shown in patent document 1 as a prior art regarding the direct teaching of a robot. This is to reduce the force of the teacher to move the robot by a method of detecting the dead weight of the robot and controlling it to actively cancel it.

JP-A-9-38877

  In the technique of Patent Document 1, since control is continued in order to cancel its own weight, there is a high risk of causing harm to a teacher when the robot falls into an uncontrollable state, and there is a possibility that safety concerns cannot be eliminated. is there.

  On the other hand, the parallel link robot 1 has a structure in which the movable plate 3 is supported from above by the arm 4 and the rod 7. Therefore, if the power source of the drive source is cut off, the teacher can easily support the movable plate 3 and there is no safety concern.

  However, in the parallel link robot 1, even when the positions and postures of the arm 4 and the rod 7 are fixed by cutting off the power source of the driving source in direct teaching, the positions or postures of the arm 4 and the rod 7 are slightly changed. It may change. Therefore, for example, when causing the parallel link robot 1 to perform precise work, the operation check of the robot operation based on the teaching data of the direct teaching, and the work of re-teaching and correcting the defect found by this operation check, The current situation is that it is repeated and driven into a usable state.

  An object of the present invention is to solve these conventional problems and provide a direct teaching data editing method and a parallel link robot capable of reducing repetition of operation confirmation and re-teaching.

  The direct teaching data editing method of the present invention is used when the teaching data in the editing area of the teaching data related to the attitude of the parallel link robot is updated and edited to the re-teaching data that is directly taught by moving the parallel link robot. The re-teaching data is edited as teaching data in the editing area after being offset by an offset amount corresponding to the position and orientation determined by the teaching data immediately before the editing area.

  The parallel link robot of the present invention is a parallel link robot having a function of updating teaching data in an editing area of teaching data related to position and orientation to re-teaching data taught by direct teaching, An editing processing unit is provided that edits the re-teaching data as teaching data of the editing area by offsetting the re-teaching data by an offset amount corresponding to the position and orientation determined by the teaching data immediately before the editing area.

  According to the present invention, it is possible to provide a direct teaching data editing method and a parallel link robot capable of reducing the repetition of operation check and re-teaching while taking advantage of the intuitive and easy-to-understand characteristics of direct teaching. It becomes.

Schematic configuration diagram of parallel link robot of the present invention Explanatory drawing of the display screen of the display with a touch panel of the parallel link robot of this invention Flowchart of direct teaching data editing of the parallel link robot of the present invention (A) Teaching data before editing of the parallel link robot of the present invention and explanatory diagram of re-teaching contents that the robot erroneously recognizes during direct teaching, (b) Actual re-teaching during direct teaching of the parallel link robot of the present invention Illustration of contents (A) Explanation of teaching data before editing of the parallel link robot of the present invention, (b) Explanation of re-teaching contents after editing of the parallel link robot of the present invention Explanatory drawing of the original trajectory approximation determination unit of the parallel link robot of the present invention Schematic configuration diagram of a conventional parallel link robot

Hereinafter, a method for editing direct teaching data of a parallel link robot according to the present invention will be described with reference to FIGS. 1 to 6 showing specific embodiments.
FIG. 1 is a diagram showing a schematic configuration of a parallel link robot 41 according to an embodiment of the present invention.

  In the parallel link robot 41, the fixed plate 2 and the movable plate 3 are coupled by a plurality of arms 4, a plurality of bearings 9 that freely rotate in the space such as a ball joint, and a plurality of rods 7. Each arm 4 is connected to the output shaft of each motor 5. The flange surface of each motor 5 is fixed to the plate 6, and the plate 6 is coupled to the fixed plate 2. That is, the automatic operation of the movable plate 3 can be controlled by controlling the position and posture of each arm 4.

  In order to allow the movable plate 3 to freely define its position and posture in space, six degrees of freedom (movable axes) are required. In the present invention, the position and posture of the movable plate 3 are freely set by using six sets of arms 4 and motors 5 and independently controlling their rotational positions. Each motor 5 is provided with an encoder 14. The encoder 14 is connected to the control unit 10 via the input unit 15.

  In FIG. 1, only one motor 5, plate 6, and encoder 14 are illustrated, but actually, there are six for each arm 4. Each encoder (not shown) is also connected to the control unit 10 via the input unit 15.

  Each arm 4 is attached to the fixed plate 2 so as to turn around a unique axis in a unique plane. Both ends of the rod 7 are coupled to the arm 4 or the movable plate 3 by bearings 9 that freely rotate in the space. Thus, the position and posture of each arm 4 and each rod 7 can be changed in the space while being coupled and restrained by the movable plate 3.

  Therefore, the position and posture of the movable plate 3 can be controlled by controlling the rotational position of the arm 4 with a drive source such as the motor 5. For example, an end effector 8 for gripping an object is attached to the movable plate 3. Note that the end effector 8 attached to the movable plate 3 is not limited to the one for gripping an object, and various types can be selected according to the purpose of the parallel link robot 41.

  The movable plate 3 does not have a heavy object such as a drive source, has a very light structure, and is useful for high-speed operation and direct teaching. The direct teaching is a method of teaching the motion trajectory of the parallel link robot 41 by the teacher directly holding the movable plate 3 and moving it directly.

  In the present invention, the teaching motion position and teaching motion posture can be re-taught while looking at the actual thing of the parallel link robot 41, and the teacher can recognize the relationship with the position and posture before re-teaching. By enabling these, the parallel link robot 41 of the present invention proposes a simple operation that has been difficult with the conventional direct teaching.

  Teach data based on the output of each encoder 14 is input to the control unit 10 via the input unit 15. Based on the teaching data, the control unit 10 drives the motors 5 to drive the parallel link robot 41 so as to follow the set locus, and then specifies a part of the stored teaching data. And an editing function for replacing the re-teached data.

The editing processing unit 27 that controls the editing function in the control unit 10 includes a robot tip posture calculation unit 11, an original trajectory approximation determining unit 12, a corrected trajectory recording unit 13, and a table 28.
The table 28 is pre-written with an offset amount Δ (details will be described later) of each axis when the drive power supply is cut off at the operating points of the parallel link robot 41 in various postures. The table 28 can be created in advance by actually measuring the offset amount Δ when the drive power of the parallel link robot 41 is shut off in various postures. The offset amount Δ can be obtained as a difference amount between the encoder values of the motor before and after the drive power supply is cut off at the origin position of the robot where all the arms 4 are in a horizontal state, but an arbitrary value can be set depending on the use environment You can also

  When motor rotation position information from the six encoders 14 is input to the control unit 10 via the input unit 15, the position and posture of the movable plate 3 are calculated by the robot tip posture calculation unit 11. These calculation results are handed over to the display unit 16 of the touch panel display 29, and are displayed in a graph as time series coordinate values of the motion trajectory as shown in FIG. A touch panel 30 for recognizing the touch input position is provided on the screen of the display unit 16. The output of the touch panel 30 is connected to the control unit 10.

  In the operation teaching of the parallel link robot 41, when re-teaching the position or posture, the state (position and posture) of the movable plate 3 in the vicinity of the start point and the end point after the re-teaching is the movable state before the re-teaching. Whether or not it is close to the state of the plate 3 is important. In the present invention, in order to determine this, an original trajectory approximation determining unit 12 is provided. Further, in the operation teaching of the parallel link robot 41, when re-teaching the position or posture, it is necessary to record the position and posture. In the present invention, the correction locus recording unit 13 is provided to store the position and orientation. Note that the motion trajectory after re-teaching can be confirmed and corrected by the above-described graph display (see FIG. 2) on the display unit 16.

  FIG. 2 is a diagram for explaining a display screen of a display with a touch panel of the parallel link robot 41 of the present invention. FIG. 2 is a graph image of the display screen when editing the above-described motion trajectory. In FIG. 2, the teaching motion trajectory of the parallel link robot is displayed on the graph display unit 26 on the left side of the screen as a graph in time series for each axis. In each graph of FIG. 2, the horizontal axis is the time axis, and the vertical axis is the coordinate value of each axis.

  In FIG. 2, the current position (current position) and posture (current posture) of the parallel link robot 41 are indicated by a current position pointer 20. In the present invention, the position of the parallel link robot 41 is managed with six axes (X axis, Y axis, Z axis, θx axis, θy axis, θz axis). Here, the current position of the parallel link robot 41 refers to the virtual center coordinate of the current movable plate 3 and the rotation of the surface of the movable plate 3 including this point about each of the x, y, and z axes. Expressed in terms of quantity. In the present invention, the current position is used to numerically manage the position and orientation of the movable plate 3. Information on the current position of the current position pointer 20 is displayed numerically in each display field 25 at the upper right of the screen.

  In addition to the current position of the parallel link robot 41, the graph display unit 26 can be provided with an editing area 21 to be re-taught for trajectory information. The edit area 21 includes an edit start point 22 and an edit end point 23, and is defined as an area between these points. The edit start point 22 is set to be the same as the edit end point 23 or on the left side (the earlier time side) than the edit end point 23.

On the right side of the screen, below the display column 25, icons of function buttons A1 to A6 for inputting instructions necessary for re-teaching are displayed.
The “move to start point” button A 1 is an icon for instructing to automatically move each axis of the parallel link robot 41 to the set edit start point 22. When the teacher touches the display position of the button A1 icon on the display panel screen of the display unit 16, the control unit 10 recognizes the input instruction via the touch panel 30.

  Regarding the function buttons A2 to A6, the relationship between the touch panel 30 and the control unit 10 is the same as that of the button A1, and the teacher touches the display position of each icon on the screen of the display panel of the display unit 16. Thus, the control unit 10 recognizes an input operation of each function via the touch panel 30.

  When performing re-teaching, the teacher touches the icon of the “start re-teaching” button A2 to notify the control unit 10 of the start of re-teaching. As a result, the control unit 10 starts the re-teach mode and reads the re-teach trajectory. Upon detecting that the “interrupt” button A3 icon has been touched during the re-teaching mode, the control unit 10 stops the re-teaching mode and brakes each motor 5.

FIG. 3 shows a method for partially changing teaching data, that is, a procedure for performing re-teaching.
First, in step S1, an edit start point 22 and an edit end point 23 are set on the graph of FIG.

In step S2, by touching the “move to start point” button A1, each axis of the parallel link robot 41 moves to the edit start point, and the power system of the motor 5 is shut off.
In step S3, by touching the “start re-teaching” button A2, the brake of the motor 5 is released, and the parallel link robot 41 is brought into a completely free state. At this time, it is necessary to take measures such as a teacher holding the movable plate 3 by hand so that the movable plate 3 of the parallel link robot 41 does not fall.

In step S4, the teacher performs the re-teaching by moving the movable plate 3 directly in his / her hand from this state. The end of re-teaching is performed by operating the “end re-teaching” button A4.
In step S5 after re-teaching is completed, the trajectory before re-teaching in the editing area 21 is partially replaced with the trajectory re-taught in step S4.

The control unit 10 that has detected that the icon of the “end re-teach” button A4 has been touched ends the re-teach mode.
The control unit 10 that has detected that the icon of the “replay teaching data replay” button A5 has been touched once moves each axis of the parallel link robot 41 to the editing start point 22, and then traces the retaught locus. To the editing end point 23.

The re-teaching performed in steps S3 to S5 and the data replacement of the editing area with the re-teaching data will be described in detail with reference to FIGS.
FIG. 4A is an image diagram of teaching data before editing, and schematically shows teaching data before editing for an arbitrary axis.

Unedited teaching data, the operating point is continuously _{P 0,} P 1, · · · _·, if a _{P n-1, P n,} in the editing area 21 set by the editing start point 22 and the edit end point 23 The included point groups are P _{1 to} P _n−1 .

The parallel link robot 41 uses a large number of bearings 9 and, when performing direct teaching, prior to direct teaching in step S4, it is necessary to shut off the drive power supply in step S3 so that the movable plate 3 can be moved freely. There is. For this reason, if the teacher does not support the movable plate 3 well when the “start re-teaching” button A2 is touched to switch to the teaching start state, the teaching data of the editing section to be edited by re-teaching In some cases, the difference between the teaching data immediately before the editing section becomes large and smooth movement of the movable plate 3 cannot be expected after editing. Further, even if the teacher himself supports the movable plate 3 immediately after the power source of the driving source is cut off during direct teaching, the operating point of the first virtual line in the editing area 21 as shown in FIG. What is supposed to be P ₁ is actually the operating point p 1 *, and a minute position and orientation change of the movable plate 3 (hereinafter, this change is referred to as an offset amount Δ) occurs. Such an offset amount Δ is generated by a small dimensional margin of each axis, and is difficult to detect by each encoder 14 or the like.

Therefore, even if the instructor performs direct teaching of the locus (p1 *,..., _Pn-1 *) indicated by the broken line C1 in FIG. It may be recognized that the trajectory indicated by the broken line C2 in FIG. 4A is re-taught, and a different trajectory may be re-taught.

  Due to this offset amount Δ, there is a deviation between the actual re-teaching content by the teacher and the re-teaching content that the parallel link robot 41 reads and recognizes from each encoder 14 in the entire editing area 21 to be re-taught. May occur. Due to this misalignment, in the case of a usage mode in which the parallel link robot 41 performs a particularly precise work, the operation check by the replay operation after the re-teaching by the direct teaching and the trouble found by the operation checking are re-taught. The current situation is that the work to be corrected is repeated. Further, when teaching, for example, a component insertion operation by teaching the operation of the parallel link robot 41 by the teacher's hand, the position of the end effector 8 of the parallel link robot 41 at the time of teaching is important. This is because when teaching the part insertion operation, etc., the part to be actually inserted is often used to teach the operation, so the insertion failure occurs due to a slight deviation between the parallel link robot 41 teaching and the automatic operation. This is because it may become.

Therefore, in this embodiment, these problems are avoided as follows.
The edit processing unit 27 reads an appropriate offset amount Δ from the table 28 using the operation point P ₀ of the position and orientation of the movable plate 3 read from each encoder 14 immediately before the start of step S4 as a search key. Then, the editing processing unit 27 of the first embodiment applies the operation points “p1, p2,..., Pn−1” of the position and orientation of the movable plate 3 read from each encoder 14 to FIG. As shown in the figure, “p1-Δ, p2-Δ,..., Pn-1-Δ” obtained by processing the operation points of the position and orientation of the movable plate 3 read from each encoder 14 with the offset amount Δ is used as the re-teaching data and the correction locus. Write to the recording unit 13.

When the direct teaching in step S4 is completed, step S5, as shown in FIG. 5 (b), the first operating point p1-delta, which is re-taught is connected to the point P ₀ of the immediately preceding editing start point 22, again The last operating point pn-1-Δ taught is connected to the point Pn immediately after the editing end point 23 and is partially replaced.

  Note that the number of point groups included in the editing area 21 increases with the time interval for point cloud acquisition at the time of re-teaching and the time required for re-teaching. Is not limited. If the time interval is the same and the number of points after re-teaching is small, the editing area 21 after data replacement becomes short. If the time interval is the same and the number of points after re-teaching is large, the editing area 21 after data replacement becomes long.

In this way, the re-teaching of the editing area 21 is completed, but the coordinate values of the points P ₀ and p 1 -Δ before and after the editing start point 22 and the points pn 1 -Δ before and after the editing end point 23 If there is a large gap in the coordinate value of the point Pn, the operation of the parallel link robot 41 becomes unreasonable, and the bearing 9 of the parallel link robot 41 may be overloaded. In the first embodiment, the original trajectory approximation determining unit 12 is provided to prevent such an unreasonable operation.

In the original trajectory approximation determining unit 12, an allowable width ± d is set in advance as the coordinate value of the point P ₀ immediately before the editing start point 22. When step S5 is completed, if the re-taught operation point p1-Δ is within the allowable range, the parallel link robot 41 can operate smoothly at the editing start portion of the editing area 21.

When the re-taught operation point p1-Δ does not exist within the allowable range P ₀ ± d, the control unit 10 determines that the “start position XYZ” marker B1 of the near-position marker 24 at the lower right of the screen of the display unit 16 Alternatively, the “start posture θxθyθz” marker B2 is turned on. When the target axis corresponds to the parallel movement axis of the movable plate 3, that is, the X, Y, and Z axes, the “start position XYZ” marker B1 is turned on. When the target axis corresponds to the rotational movement axis of the movable plate 3, that is, the θx, θy, and θz axes, the “start posture θxθyθz” marker B2 is turned on.

Similarly, in the original trajectory approximation determining unit 12, an allowable width ± d of the coordinate value of the point _Pn immediately after the editing end point 23 is set in advance. When the re-taught operation point pn-1-Δ is within this allowable range, the parallel link robot 41 can operate smoothly at the editing end portion of the editing area 21.

In the original trajectory approximation determining unit 12, the allowable width ± d does not have to be the same value in the vicinity of the edit start point 22 and in the vicinity of the edit end point 23, and may be set individually.
When the re-taught operation point pn-1-Δ is not in the range of P _n ± d, the control unit 10 causes the “end position XYZ” marker B3 or “end posture θxθyθz” at the lower right of the display unit 16 screen. Marker B4 is turned on. When the target axis corresponds to the parallel movement axis of the movable plate 3, that is, the X, Y, and Z axes, the “end position XYZ” marker B3 is turned on. When the target axis corresponds to the rotational movement axis of the movable plate 3, that is, the θx, θy, and θz axes, the “start posture θxθyθz” marker B2 is turned on.

  When the markers B1 to B4 are lit immediately after the end of the re-teaching and the icon of the “re-teaching data reproduction” button A5 is touched, the control unit 10 changes the posture of the parallel link robot 41 to the editing start point. After moving once to 22, the re-taught locus is traced and moved to the editing end point 23, and the parallel link robot 41 is operated based on the edited teaching data. Therefore, by performing the re-teaching described above, the teacher can visually confirm the movement of the parallel link robot 41.

  Here, when the teacher determines that the movement of the parallel link robot 41 is not smooth, when the “smoothing near the start / end point” button A6 is touched, the control unit 10 causes the parallel link robot 41 to move smoothly. Smoothing processing is performed by approximating the teaching data at several points at the start and end of the editing area 21 (near the boundary of the editing area 21) so as to be moved.

  Immediately after this smoothing process, the original trajectory approximation determining unit 12 determines whether the parallel link robot 41 can move smoothly based on the teaching data after the smoothing process, and if it is determined that the parallel locus robot 41 cannot move smoothly, Displayed by markers B1 to B4.

  In this embodiment, an error that the parallel link robot 41 cannot move smoothly is notified by the original trajectory approximation determining unit 12 and the markers B1 to B4 at the timing immediately after the end of the re-teaching or the timing after the smoothing process. In this case, the instructor immediately touches the “start re-teaching” button A2, returns to step S2, and repeats the re-teaching and editing, thereby realizing an appropriate editing process.

  As described above, in the parallel link robot 41 according to the first embodiment, the original trajectory approximation determining unit 12 determines whether the edited teaching data is appropriate within the allowable range and teaches by the nearby position marker 24. Because it notifies the person, the operability is good. Further, in steps S3 to S5, the position and posture of the movable plate 3 read by the parallel link robot 41 from the encoder 14 is edited so as to approach the actual teaching content by the offset amount Δ read from the table 28. The editing processing unit 27 performs editing processing as teaching data of the area 21. Therefore, the parallel link robot 41 according to the first embodiment can realize the accurate operation of the parallel link robot by performing the direct teaching in a short time while utilizing the direct teaching feature that is intuitive and easy to understand.

  In this embodiment, the error display is performed by the markers B1 to B4. However, since it may be difficult to see the monitor screen during the re-teaching, it is also effective to play the guidance by voice or the like together with the display. It is.

  In this manner, the two types of markers are divided into cases where it is meaningful to make the position of the movable plate 3 as close as possible before and after the editing start point 22, and so that the posture of the movable plate 3 is as close as possible. This is because it may make sense to do.

It should be noted that a marker may be prepared for each of the six axes, or a single marker may be provided by taking a six-axis AND condition.
In the above embodiment, the control unit 10 performs the smoothing process after detecting that the “smoothing near the start / end point” button A6 is touched, but the re-teaching is completed in step S5. It can also be configured to automatically perform a smoothing process immediately after.

It has been described as reading from the table 28 in accordance with the teaching data P ₀ of the previous offset the editing area 21 for editing in the above embodiment, in place of the table 28 as shown in phantom in FIG. 1 In addition, an offset calculation unit 31 in which a calculation formula for outputting an offset amount corresponding to the position and orientation determined by the teaching data P ₀ immediately before the editing area 21 is set is provided, and the offset calculation unit 31 immediately before the editing area 21 is provided. It can also be configured to calculate the offset amount used for editing by substituting the teaching data P ₀ .

  The present invention makes it possible to quickly and easily teach robot operations in various production lines that employ industrial robots using parallel link mechanisms.

41 Parallel Link Robot 2 Fixed Plate 3 Movable Plate 4 Arm 5 Motor 6 Plate 7 Rod 8 End Effector 9 Bearing 10 Control Unit 11 Robot Tip Posture Calculation Unit 12 Original Trajectory Approximation Determining Unit 13 Corrected Trajectory Recording Unit 20 Current Position Pointer 21 Edit Area 22 Editing start point 23 Editing end point 24 Neighborhood position marker 25 Display field 26 Graph display unit 27 Editing processing unit 28 Table 29 Touch panel display 30 Touch panel 31 Offset calculation unit A1 to A6 Function buttons Δ Offset amount

Claims (7)

When editing the teaching data in the editing area of the teaching data related to the posture of the parallel link robot by updating the re-teaching data directly taught by moving the parallel link robot,
Editing the re-teaching data as teaching data of the editing area after offsetting the re-teaching data by an offset amount corresponding to the position and orientation determined by the teaching data immediately before the editing area;
How to edit direct teaching data. The offset amount according to the position and posture determined by the teaching data immediately before the editing area is read out from the table in which the relationship between the position and posture of the parallel link robot and the offset amount is calculated in advance according to the teaching data. ,
The direct teaching data editing method according to claim 1. An offset amount corresponding to the position and orientation determined by the teaching data immediately before the editing area is calculated by substituting the teaching data into an offset calculation unit.
The direct teaching data editing method according to claim 1. After editing the re-teaching data as the teaching data of the editing area, approximate correction of the teaching data near the boundary of the editing area and smoothing processing,
The direct teaching data editing method according to claim 1. After editing the re-teaching data as teaching data in the editing area, the difference between the teaching data immediately before the editing area and the re-teaching data at the start of the editing area, or the teaching data immediately after the editing area It is determined whether or not the difference from the re-teaching data at the end portion of the editing area is within an allowable range, and the determination result is notified to the teacher.
The direct teaching data editing method according to claim 1. A parallel link robot having a function of updating teaching data in an editing area of teaching data related to position and orientation to re-teaching data taught by direct teaching,
An edit processing unit is provided for editing the re-teaching data as teaching data of the editing area by offsetting the re-teaching data by an offset amount according to the position and orientation determined by the teaching data immediately before the editing area.
Parallel link robot. The edit processing unit has a table in which the relationship between the position and orientation of the parallel link robot and the offset amount is calculated in advance.
The parallel link robot according to claim 6.

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