# US 10,864,632 B2 · Direct teaching method of robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,864,632 B2 - Document ID: US10864632B2 - Status: Granted - Kind: B2 - Application number: 15/778,827 - Filed: 2016-11-02 - Published: 2018-12-06 - Granted: 2020-12-15 - Earliest claimed: 2015-11-24 - Assignees: Kawasaki Jukogyo Kabushiki Kaisha - Applicants: Kawasaki Jukogyo Kabushiki Kaisha - Inventors: Masayuki Watanabe; Masayuki Nishimura - Web page: https://patentgrep.com/patent/US10864632B2 ## CPC - B25J 9/163: {learning, adaptive, model based, rule based expert control} - B25J 5/007: {mounted on wheels} - B25J 9/0081: {with leader teach-in means} - B25J 9/0087: {Dual arms (double SCARA arms B25J9/043)} - B25J 9/009: {being mechanically linked with one another at their distal ends} - B25J 9/044: {with forearm providing vertical linear movement} - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 9/1669: {characterised by special application, e.g. multi-arm co-operation, assembly, grasping} - B25J 9/1682: {Dual arm manipulator; Coordination of several manipulators} - B25J 9/1692: {Calibration of manipulator} - G05B 19/42: Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine - G05B 19/423: Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path - G05B 2219/36401: Record play back, teach position and record it then play back - Y02P 90/02: Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS] - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS ## Abstract A direct teaching method of a robot includes specifying one of a plurality of robot arms as a master arm and specifying as a slave arm at least one of the robot arms which is other than the master arm; causing the slave arm to operate cooperatively with the master arm so that relative positions and postures of a wrist part of the master arm and a wrist part of the slave arm become a predetermined relation, while a teaching person is directly applying a force to an arbitrary location of the master arm including a tool, to move the master arm to a desired teaching position; and storing position information of at least one of the master arm and the slave arm at a time point when the master arm has reached the desired teaching position. ## Claims ### Claim 1 A direct teaching method of a robot, the robot including a plurality of robot arms, the direct teaching method comprising: specifying one of the plurality of robot arms as a master arm and specifying as a slave arm at least one of the plurality of robot arms which is other than the master arm; deriving relative positions and postures of a wrist part of the master arm located at an initial position and a wrist part of the slave arm located at an initial position and storing the relative positions and postures as a predetermined relation; causing the slave arm to operate cooperatively with the master arm so that the relative positions and postures of the wrist part of the master arm and the wrist part of the slave arm become the predetermined relation, while a teaching person is directly applying a force to an arbitrary location of the master arm including a tool, to move the master arm from the initial position to a desired teaching position; and at a time point when the master arm has reached the desired teaching position, storing position information of the master arm and position information of the slave arm. ### Claim 2 (depends on 1) The direct teaching method of the robot according to claim 1, wherein a standard point is defined in the master arm, and a restriction mode in which a movement path of the standard point is restricted to a predetermined movement path, or a free mode in which the movement path of the standard point is not restricted to the predetermined movement path, is selectable. ### Claim 3 (depends on 2) The direct teaching method of the robot according to claim 2, further comprising: restricting the movement path of the standard point to the predetermined movement path; while the teaching person is moving the master arm, repeating a series of operations for each of control shafts of the master arm until a deviation between a shaft angle corresponding to a master arm position command value and a detected shaft angle becomes zero, the series of operations including detecting the shaft angle of each of the control shafts of the master arm, deriving a present position of the standard point based on the shaft angle, generating the master arm position command value in which a position obtained by projecting the present position to the predetermined movement path is a target position, generating a slave arm position command value based on the master arm position command value and the predetermined relation, driving each of control shafts of the slave arm based on the slave arm position command value, and driving each of the control shafts of the master arm based on the master arm position command value; and storing the position information of the master arm and the position information of the slave arm after the deviation has reached zero. ### Claim 4 (depends on 3) The direct teaching method of the robot according to claim 3, wherein a position gain and a speed gain of each of the control shafts of the master arm are set to desired values. ### Claim 5 (depends on 3) The direct teaching method of the robot according to claim 3, further comprising: performing a gravitational force compensation calculation for at least one of the control shafts of the master arm, and adding a value of the gravitational force compensation calculation to a torque command value of the control shaft. ### Claim 6 (depends on 3) The direct teaching method of the robot according to claim 3, further comprising: deriving an initial posture of the tool attached on the master arm based on the shaft angle of each of the control shafts of the master arm before the teaching person moves the master arm; and generating the master arm position command value so that the initial posture of the tool is maintained while the teaching person is moving the master arm or the tool attached on the master arm. ### Claim 7 (depends on 3) The direct teaching method of the robot according to claim 3, wherein the predetermined movement path of the standard point is defined on a straight line parallel to one of three orthogonal axis directions in a xyz base coordinate system or on a straight line parallel to one of three orthogonal axis directions in a xyz tool coordinate system. ### Claim 8 (depends on 3) The direct teaching method of the robot according to claim 3, wherein the predetermined movement path of the standard point is defined on a plane parallel to a plane defined by a combination of two of three orthogonal axes in a xyz base coordinate system or on a plane parallel to a plane defined by a combination of two of three orthogonal axes in a xyz tool coordinate system. ### Claim 9 (depends on 3) The direct teaching method of the robot according to claim 3, wherein the predetermined movement path of the standard point is defined on a rotation trajectory which is around one of three orthogonal axes in a xyz base coordinate system or on a rotation trajectory which is around one of three orthogonal axes in a xyz tool coordinate system. ### Claim 10 (depends on 3) The direct teaching method of the robot according to claim 3, wherein generating the master arm position command value from the present position includes: deriving a movement vector on the predetermined movement path; deriving a coordinate transform matrix which transforms a base coordinate system into a new xyz coordinate system so that the movement vector becomes parallel to one of three orthogonal axes in the new xyz coordinate system; transforming coordinates of the present position of the standard point in the base coordinate system into coordinates in the new xyz coordinate system; and deciding as a target position in the new xyz coordinate system, a position obtained by projecting the present position in the new xyz coordinate system to the predetermined movement path, and transforming coordinates of the target position in the new xyz coordinate system into coordinates in the base coordinate system to derive the target position.