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US 12,172,312 B2Granted
Method of generating control program for robot, storage medium, and teaching apparatus
AssigneeSeiko Epson Corporation
InventorsTakema Yamazaki, Daisuke Sato, Daiki Tokushima
Life of this patent
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Abstract
A method of generating a control program for a robot includes generating a trajectory in which a robot arm moves between a plurality of teaching points based on a first constraint condition with respect to a movement time of the robot arm and a second constraint condition with respect to a drive condition for driving the robot arm by a processor, displaying the trajectory generated by the processor and accumulated power consumption when the robot arm moves along the trajectory by a display unit, and, when receiving an instruction to employ the trajectory, generating a control program for the robot based on the trajectory by the processor.
Claims7
A control system for controlling a robot, comprising:
- a teaching apparatus generating a control program for the robot, comprising:
- a processor;
- and
- a display unit,
- wherein the processor is configured to
- receive an instruction on a plurality of teaching points as a reference for movement of a robot arm of the robot;
- generate a trajectory in which the robot arm moves between the plurality of teaching points, based on
- a first constraint condition with respect to a movement time for which the robot arm moves between the plurality of teaching points and
- a second constraint condition with respect to a drive condition when the robot arm moves between the plurality of teaching points;
- control to display the trajectory and accumulated power consumption when the robot arm moves between the plurality of teaching points along the trajectory on the display unit;
- and
- generate the control program for the robot based on the trajectory when receiving an instruction to employ the trajectory,
- wherein the second constraint condition is that absolute values of an acceleration and a deceleration of the robot arm when the robot arm moves between the plurality of teaching points along the trajectory in the power-saving mode are smaller than absolute values of an acceleration and a deceleration of the robot arm when the robot arm moves between the plurality of teaching points along the trajectory in the normal mode;
- and
- a control apparatus electrically coupled to the teaching apparatus, wherein the control apparatus is configured to control a position and an attitude of the robot arm according to the control program, to cause the robot arm to move along the generated trajectory.
12 more elements
A control system for controlling a robot, comprising:
- a teaching apparatus generating a control program for the robot, comprising:
- a processor;
- and
- a display unit,
- wherein the processor is configured to
- receive an instruction on a plurality of teaching points as a reference for movement of a robot arm of the robot;
- generate a trajectory in which the robot arm moves between the plurality of teaching points, based on
- a first constraint condition with respect to a movement time for which the robot arm moves between the plurality of teaching points and
- a second constraint condition with respect to a drive condition when the robot arm moves between the plurality of teaching points;
- control to display the trajectory and accumulated power consumption when the robot arm moves between the plurality of teaching points along the trajectory on the display unit;
- and
- generate the control program for the robot based on the trajectory when receiving an instruction to employ the trajectory,
- wherein the second constraint condition is that a fluctuation range of a position of the robot arm in a direction of gravitational force when the robot arm moves between the plurality of teaching points along the trajectory in the power-saving mode is narrower than a fluctuation range of the position of the robot arm in the direction of gravitational force when the robot arm moves between the plurality of teaching points along the trajectory in the normal mode;
- and
- a control apparatus electrically coupled to the teaching apparatus, wherein the control apparatus is configured to control a position and an attitude of the robot arm according to the control program, to cause the robot arm to move along the generated trajectory.
12 more elements
A robot system, comprising:
- a robot includes a robot arm;
- a teaching apparatus generating a control program for the robot, comprising:
- a processor;
- and
- a display unit,
- wherein the processor is configured to
- receive an instruction on a plurality of teaching points as a reference for movement of the robot arm of the robot;
- generate a trajectory in which the robot arm moves between the plurality of teaching points, based on
- a first constraint condition with respect to a movement time for which the robot arm moves between the plurality of teaching points and
- a second constraint condition with respect to a drive condition when the robot arm moves between the plurality of teaching points;
- control to display the trajectory and accumulated power consumption when the robot arm moves between the plurality of teaching points along the trajectory on the display unit;
- and
- generate the control program for the robot based on the trajectory when receiving an instruction to employ the trajectory,
- wherein the second constraint condition is that absolute values of an acceleration and a deceleration of the robot arm when the robot arm moves between the plurality of teaching points along the trajectory in the power-saving mode are smaller than absolute values of an acceleration and a deceleration of the robot arm when the robot arm moves between the plurality of teaching points along the trajectory in the normal mode;
- and
- a control apparatus electrically coupled to the teaching apparatus, wherein the control apparatus is configured to control a position and an attitude of the robot arm according to the control program, to cause the robot arm to move along the generated trajectory.
13 more elements
Dependencies are inferred from the claim text.