Teaching device, teaching method, and robot system
AssigneeCanon Kabushiki Kaisha
InventorsYasusato Fujieda, Hisashi Matsumoto
Life of this patent
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Abstract
A teaching device constructs, in a virtual space, a virtual robot system in which a virtual 3D model of a robot and a virtual 3D model of a peripheral structure of the robot are arranged, and teaches a moving path of the robot. The teaching device includes an acquisition unit configured to acquire information about a geometric error between the virtual 3D models, and a correction unit configured to correct the moving path of the robot in accordance with the information acquired by the acquisition unit.
Claims20
An information processing apparatus comprising:
- one or more processors;
- and
- a non-transitory memory,
- wherein the one or more processors and the non-transitory memory are configured to:
- acquire a measured model indicating a shape of a structure in a periphery of a robot arranged in a real space;
- acquire data related to a first moving path of the robot;
- and
- update the data, in a case where there is a part in the measured model through which a predetermined portion of the robot is passable and a second moving path shorter than the first moving path is acquirable by the predetermined portion passing the part, so that the predetermined portion passes the part.
An information processing method to be executed by one or more processors and a non-transitory memory, the information processing method comprising:
- acquiring a measured model indicating a shape of a structure in a periphery of a robot arranged in a real space;
- acquiring data related to a first moving path of the robot;
- and
- updating the data, in a case where there is a part in the measured model through which a predetermined portion of the robot is passable and a second moving path shorter than the first moving path is acquirable by the predetermined portion passing the part, so that the predetermined portion passes the part.
Dependencies are inferred from the claim text.