Path generation device and method

A path generation device comprising:

• a memory;
• and
• a processor coupled to the memory, the processor being configured to execute processing, the processing comprising:
• receiving a design position and a design shape of a target object for a case in which a robot is to perform an action along the target object;
• based on the received design position and the received design shape of the target object, identifying a number and position of training points as identified for each classification of shape of the target object as training points for training positions of a specific location of the robot to perform the action, the number being a minimum number of the training points capable of uniquely determining the shape, and instructing the robot such that the robot presses against the target object and training is executed at the identified training points;
• acquiring positional information of the specific location of the robot as trained according to the instruction and acquiring an external force acting on the robot;
• estimating a shape of the target object based on the acquired positional information;
• and
• based on the estimated shape of the target object and on the acquired external force, generating a path for the robot to perform the action along the target object.

A path generation method comprising:

• receiving a classification of a shape of a target object for a case in which a robot is to perform an action along the target object;
• instructing a user, based on the received classification of the shape, with a number of training points identified for each classification of the shape as training points for training positions of a specific location of the robot to perform the action, the number being a minimum number of the training points capable of uniquely determining the shape;
• acquiring positional information of the specific location of the robot as trained by manipulation by the user according to the instruction;
• estimating a shape of the target object based on the acquired positional information;
• and
• generating a path for the robot to perform the action along the target object based on the estimated shape of the target object.

A path generation method comprising:

• receiving a design position and a design shape of a target object for a case in which a robot is to perform an action along the target object;
• dentifying, based on the received design position and the received design shape of the target object, a number and position of training points as identified for each classification of shape of the target object as training points for training positions of a specific location of the robot to perform the action, the number being a minimum number of the training points capable of uniquely determining the shape, and instructing the robot such that the robot presses against the target object and training is executed at the identified training points;
• acquiring positional information of the specific location of the robot as trained according to the instruction and acquiring an external force acting on the robot;
• estimating a shape of the target object based on the acquired positional information;
• and
• generating a path for the robot to perform the action along the target object based on the estimated shape of the target object and on the acquired external force.

A non-transitory storage medium storing a path generation program that, when executed by a computer having a memory and a processor, causes the computer to:

• receive a classification of a shape of a target object for a case in which a robot is to perform an action along the target object;
• based on the received classification of the shape, instruct a user with a number of training points identified for each classification of the shape as training points for training positions of a specific location of the robot to perform the action, the number being a minimum number of the training points capable of uniquely determining the shape;
• acquire positional information of the specific location of the robot as trained by manipulation by the user according to the instruction;
• estimate a shape of the target object based on the acquired positional information;
• and
• based on the estimated shape of the target object, generate a path for the robot to perform the action along the target object.

A non-transitory storage medium storing a path generation program that, when executed by causes a computer having a memory and a processor, causes the computer to:

• receive a design position and a design shape of a target object for a case in which a robot is to perform an action along the target object;
• based on the received design position and the received design shape of the target object, identify a number and position of training points as identified for each classification of shape of the target object as training points for training positions of a specific location of the robot to perform the action, the number being a minimum number of the training points capable of uniquely determining the shape, and instruct the robot such that the robot presses against the target object and training is executed at the identified training points;
• acquire positional information of the specific location of the robot as trained according to the instruction and acquire an external force acting on the robot;
• estimate a shape of the target object based on the acquired positional information;
• and
• based on the estimated shape of the target and on the acquired external force, generate a path for the robot to perform the action along the target object.