Robot teaching method and device

Abstract

A robot teaching method allows even a person without knowledge on robots to intuitively and efficiently teach a robot a work motion by a work demonstration while maintaining a normal human motion as much as possible, and reduces man-hours for pre-adjustment of teaching, facilitate the introduction, etc. by generating a motion of a robotic hand mechanism corresponding to a work motion including an operation on an operation object by a hand of a teacher. The method includes acquiring a first measured pose obtained by measuring a pose of the operation object and a second measured pose obtained by measuring a pose of the hand of the teacher during the work motion; detecting the operation on the operation object by the teacher; and generating a teaching pose for generating the robotic motion data based on the first measured pose, the second measured pose, and the detected operation.