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US 11,027,428 B2Granted
Simulation apparatus and robot control apparatus
AssigneeSeiko Epson Corporation
InventorsMasanobu Nishitani, Tsutomu Hagihara
Life of this patent
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Abstract
A simulation apparatus that allows a virtual robot arm displayed on a display device to act, includes a processor that is configured to execute computer-executable instructions so as to control a robot, wherein the processor is configured to receive drag operation on a distal end of the virtual robot arm from an input device, and change an attitude of the virtual robot arm based on the drag operation.
Claims16
A simulation apparatus comprising:
- a display configured to display a virtual base, a first virtual arm, and a second virtual arm as a three-dimensional image corresponding to a base, a first arm connected to the base, and a second arm connected to the first arm of a robot, respectively, the second arm being located far from the base than the first arm, an end effector being attachable to an end of the second arm;
- an input interface configured to receive an operation of a user;
- a memory configured to store computer-executable instructions, image data of a plurality of attitudes of the first and second arms of the robot, and a robot three-dimensional coordinate system;
- and
- a processor configured to execute the computer-executable instructions so as to:
- receive a selection input from the user via the input interface to indicate selecting the second arm of the robot to be virtually operated;
- display the virtual base, the first virtual arm, and the second virtual arm of the robot on the display as the three-dimensional image based on the image data and the robot three-dimensional coordinate system;
- change a color of the displayed second virtual arm to a first color that is different from a color of the displayed first virtual arm of the robot on the display based on the received selection input and the robot three-dimensional coordinate system;
- receive a drag operation with respect to the selected second arm from the user via the input interface;
- display a horizontal mesh at a display position of the displayed second virtual arm based on the robot three-dimensional coordinate system, the displayed horizontal mesh moving along with the displayed second virtual arm;
- change an attitude of the displayed first and second virtual arms to cause the end of the displayed second virtual arm to reach a target position in response to the drag operation and based on the robot three-dimensional coordinate system;
- and
- change the first color of the displayed second virtual arm to a second color when the changed attitude of the displayed first and second virtual arms is an impossible attitude of the first and second arms of the robot by the received drag operation and based on the robot three-dimensional coordinate system.
10 more elements
A robot control apparatus comprising:
- a robot having a base, a first arm connected to the base, and a second arm connected to the first arm, the second arm being located far from the base than the first arm, an end effector being attachable to an end of the second arm;
- a display configured to display a virtual base, a first virtual arm, and a second virtual arm as a three-dimensional image corresponding to the base, the first arm, and the second arm of the robot;
- an input interface configured to receive an operation of a user;
- a memory configured to store computer-executable instructions image data of a plurality of attitudes of the first and second arms of the robot, and a robot three-dimensional coordinate system;
- and
- a processor configured to execute the computer-executable instructions so as to:
- receive a selection input from the user via the input interface to indicate selecting the second arm of the robot to be virtually operated;
- display the virtual base, the first virtual arm, and the second virtual arm of the robot on the display as the three-dimensional image based on the image data and the robot three-dimensional coordinate system;
- change a color of the displayed second virtual arm to a first color that is different from a color of the displayed first virtual arm of the robot on the display based on the received selection input and the robot three-dimensional coordinate system;
- receive a drag operation with respect to the selected second arm from the user via the input interface;
- display a horizontal mesh at a display position of the displayed second virtual arm based on the robot three-dimensional coordinate system, the displayed horizontal mesh moving along with the displayed second virtual arm;
- change an attitude of the displayed first and second virtual arms to cause the end of the displayed second virtual arm to reach a target position in response to the drag operation and based on the robot three-dimensional coordinate system;
- and
- change the first color of the displayed second virtual arm to a second color when the changed attitude of the displayed first and second virtual arms is an impossible attitude of the arm first and second arms of the robot by the received drag operation and based on the robot three-dimensional coordinate system.
11 more elements
Dependencies are inferred from the claim text.