Robot system and robot control method
OwnerToshihiro Iwasa, Ryoichi Nagai +2inventors
InventorsToshihiro Iwasa, Ryoichi Nagai, Nathanael Mullennix, Shingo Ando
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Abstract
A robot system includes circuitry. The circuitry may be configured to acquire teaching position data including a plurality of teaching positions arranged in time series based on the demonstration data of the operator. The circuitry may be further configured to generate thinned position data obtained by removing at least one of the teaching positions from the teaching position data. The circuitry may be further configured to generate a position command based on the thinned position data. The circuitry may be further configured to operate the work robot based on the position command.
Claims24
A robot system comprising circuitry configured to:
- acquire teaching position data including a plurality of teaching positions arranged in time series based on demonstration data of an operator;
- generate thinned position data obtained by removing at least one of the teaching positions from the teaching position data;
- generate a position command based on the thinned position data;
- acquire teaching force data including a plurality of teaching forces arranged in time series based on the demonstration data of the operator;
- generate thinned force data obtained by removing at least one of the teaching forces from the teaching force data;
- generate a force command based on the thinned force data;
- and
- operate a work robot based on the position command and the force command.
A robot control method comprising:
- acquiring teaching position data including a plurality of teaching positions arranged in time series based on demonstration data of an operator;
- generating thinned position data obtained by removing at least one of the teaching positions from the teaching position data;
- generating a position command based on the thinned position data;
- acquiring teaching force data including a plurality of teaching forces arranged in time series based on the demonstration data of the operator;
- generating thinned force data obtained by removing at least one of the teaching forces from the teaching force data;
- generating a force command based on the thinned force data;
- and
- operating a work robot based on the position command and the force command.
A non-transitory memory device having instructions stored thereon that, in response to execution by a processing device, cause the processing device to perform operations comprising:
- acquiring teaching position data including a plurality of teaching positions arranged in time series based on demonstration data of an operator;
- generating thinned position data obtained by removing at least one of the teaching positions from the teaching position data;
- generating a position command based on the thinned position data;
- acquiring teaching force data including a plurality of teaching forces arranged in time series based on the demonstration data of the operator;
- generating thinned force data obtained by removing at least one of the teaching forces from the teaching force data;
- generating a force command based on the thinned force data;
- and
- operating a work robot based on the position command and the force command.
A robot system comprising circuitry configured to:
- acquire teaching position data including a plurality of teaching positions arranged in time series based on demonstration data of an operator;
- generate thinned position data obtained by removing at least one of the teaching positions from the teaching position data, wherein the thinned position data is generated based on an amount of offset between a teaching position and a reference line connecting teaching positions prior to and posterior to the teaching position;
- generate a position command based on the thinned position data;
- and
- operate a work robot based on the position command.
A robot control method comprising:
- acquiring teaching position data including a plurality of teaching positions arranged in time series based on demonstration data of an operator;
- generating thinned position data obtained by removing at least one of the teaching positions from the teaching position data, wherein the thinned position data is generated based on an amount of offset between a teaching position and a reference line connecting teaching positions prior to and posterior to the teaching position;
- generating a position command based on the thinned position data;
- and
- operating a work robot based on the position command.
A non-transitory memory device having instructions stored thereon that, in response to execution by a processing device, cause the processing device to perform operations comprising:
- acquiring teaching position data including a plurality of teaching positions arranged in time series based on demonstration data of an operator;
- generating thinned position data obtained by removing at least one of the teaching positions from the teaching position data, wherein the thinned position data is generated based on an amount of offset between a teaching position and a reference line connecting teaching positions prior to and posterior to the teaching position;
- generating a position command based on the thinned position data;
- and
- operating a work robot based on the position command.
Dependencies are inferred from the claim text.