Determination of robot posture
OwnerMakoto Takahashi, Wataru Watanabe +2inventors
InventorsMakoto Takahashi, Wataru Watanabe, Yutaro Uchida, Ryo Kabutan
Life of this patent
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Abstract
A program generation system according to an example includes circuitry configured to: set multiple kinds of candidate postures of a robot in a connection area between a work path that is a trajectory of the robot in a task and an air-cut path that is a trajectory of the robot connecting tasks; evaluate an operation program including the work path and the air-cut path while changing a posture of the robot in the connection area among the multiple kinds of candidate postures; determine one of the multiple kinds of candidate postures as the posture of the robot in the connection area based on an evaluation result in the evaluating; and generate the operation program.
Claims20
A program generation system comprising circuitry configured to:
- set multiple kinds of candidate postures of a robot in a connection area corresponding to a physical location of a tip portion of the robot at a point of intersection that connects a work path that is a trajectory of the robot in a task with an air-cut path that is a trajectory of the robot connecting tasks;
- evaluate an operation program including the work path and the air-cut path by changing a posture of the robot in the connection area, while maintaining the physical location of the tip portion of the robot at the point of intersection, among the multiple kinds of candidate postures;
- determine one of the multiple kinds of candidate postures as the posture of the robot in the connection area based on an evaluation result in evaluating the operation program;
- and
- generate the operation program.
A program generation system comprising circuitry configured to:
- identify a connection area corresponding to a point of intersection between a first work path of a robot and an air-cut path of the robot, wherein the first work path is a trajectory of a robot tool during a task, and wherein the air-cut path is a trajectory of the robot tool connecting the first work path to a second work path of the robot;
- acquire a teaching posture of the robot in the connection area with at least a portion of the robot tool located at the point of intersection;
- add two or more candidate postures of the robot so as to sandwich the teaching posture between the two or more candidate postures, in order to set multiple kinds of candidate postures in the connection area;
- evaluate an operation program including the first work path and the air-cut path by changing a posture of the robot in the connection area, while the portion of the robot tool is maintained at the point of intersection, among the multiple kinds of candidate postures;
- determine one of the multiple kinds of candidate postures as the posture of the robot in the connection area based on an evaluation result in evaluating the operation program;
- and
- generate the operation program.
A program generation system comprising circuitry configured to:
- identify a connection area corresponding to a point of intersection between a first work path of a robot and an air-cut path of the robot, wherein the first work path is a trajectory of a robot tool during a task, and wherein the air-cut path is a trajectory of the robot tool connecting the first work path to a second work path of the robot;
- set a reference axis corresponding to a tip portion of the robot tool that intersects a workpiece surface at the point of intersection between the first work path and the air-cut path;
- set multiple kinds of candidate postures of the robot in which the robot tool is rotated about the reference axis with the tip portion intersecting the workpiece surface at the point of intersection;
- evaluate an operation program including the first work path and the air-cut path by changing a posture of the robot in the connection area, while the tip portion of the robot tool is maintained at the point of intersection, among the multiple kinds of candidate postures;
- determine one of the multiple kinds of candidate postures as the posture of the robot in the connection area based on an evaluation result in evaluating the operation program;
- and
- generate the operation program.
Dependencies are inferred from the claim text.