# US 12,515,334 B2 · Task teaching method and task teaching system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,515,334 B2 - Document ID: US12515334B2 - Status: Granted - Kind: B2 - Application number: 18/291,339 - Filed: 2021-09-27 - Published: 2025-01-02 - Granted: 2026-01-06 - Earliest claimed: 2021-09-27 - Assignees: Hitachi High-Tech Corporation - Applicants: Hitachi High-Tech Corporation - Inventors: Hiroki Takahashi; Masahiro Koyama; Tomohiro Inoue; Takashi Saegusa; Shinichi Ishikawa - Web page: https://patentgrep.com/patent/US12515334B2 ## CPC - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 9/1653: {parameters identification, estimation, stiffness, accuracy, error analysis} - B25J 9/1697: {Vision controlled systems} - G05B 19/42: Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine - G05B 2219/36442: Automatically teaching, teach by showing - G05B 2219/40116: Learn by operator observation, symbiosis, show, watch - G05B 2219/40391: Human to robot skill transfer - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract Provided is a task teaching method for teaching a task to a robot that includes a gripper unit configured to grip a grip target object and moves the grip target object gripped by the gripper unit, the task teaching method including: a generation step (S701) of outputting, as a reference path, time-series data regarding a position and an attitude of the grip target object when a teacher grips and moves the grip target object and generating teaching data of the robot corresponding to the reference path; and a modification step (S702) of outputting, as an operation path, time-series data regarding a position and an attitude of the grip target object or the gripper unit when the robot is operated using the teaching data before an actual task is executed by the robot and modifying the teaching data such that the operation path matches with the reference path. ## Claims ### Claim 1 A task teaching method executed by a task teaching apparatus for teaching a task to a robot that includes a gripper unit configured to grip a grip target object and moves the grip target object gripped by the gripper unit, the task teaching method comprising: a first step of preparing a marker of a coordinate system in a task environment; a second step of outputting first time-series data regarding a position and an attitude of the grip target object obtained by gripping and moving the grip target object in the task environment and generating first teaching data regarding an operation of the robot corresponding to the first time-series data; a third step of moving the robot to the task environment after the second step; a fourth step of outputting second time-series data regarding a position and an attitude of the grip target object or the gripper unit obtained by operation of the robot using the first teaching data before an actual task is executed by the robot and after the third step; and a fifth step of generating second teaching data regarding an operation of the robot corresponding to a difference between the first time-series data and the second time-series data, wherein the first time-series data, the second time-series data, the first teaching data, and the second teaching data are generated based on the coordinate system, and the third step includes getting the robot to measure the marker of the coordinate system and to recognize the coordinate system. ### Claim 2 (depends on 1) The task teaching method according to claim 1, wherein the marker of the coordinate system is provided on a work table. ### Claim 3 (depends on 1) The task teaching method according to claim 1, wherein the second step includes outputting the first time-series data from a plurality of images of the grip target object obtained by gripping and moving the grip target object, the plurality of images being acquired by a plurality of capturers provided in the task environment where the robot executes the task, and the fourth step includes outputting the second time-series data from a plurality of images of the grip target object obtained by operation of the robot, the plurality of images being acquired by the plurality of capturers. ### Claim 4 (depends on 3) The task teaching method according to claim 3, wherein the plurality of capturers captures three or more markers attached to the grip target object or three or more markers attached to the gripper unit. ### Claim 5 (depends on 1) The task teaching method according to claim 1, wherein the first time-series data and the second time-series data are time-series data regarding a position and an attitude of the grip target object. ### Claim 6 (depends on 1) The task teaching method according to claim 1, wherein in response to an error between the second time-series data and the first time-series data is more than a defined value, the generation of the second teaching data is executed. ### Claim 7 (depends on 1) The task teaching method according to claim 1, wherein in the fifth step, the second teaching data is generated using an error between the second time-series data and the first time-series data. ### Claim 8 A task teaching system comprising: a marker of a coordinate system that is provided in a task environment; a robot that is movable to the task environment, includes a gripper unit configured to grip a grip target object, and moves the grip target object gripped by the gripper unit; an outputter for outputting first time-series data regarding a position and an attitude of the grip target object obtained when a teacher grips and moves the grip target object in the task environment; and a generator for generating first teaching data regarding an operation of the robot corresponding to the first time-series data, wherein; when the robot is moved to the task environment, the outputter outputs second time-series data regarding a position and an attitude of the grip target object or the gripper unit obtained when the robot is operated using the first teaching data before an actual task is executed by the robot; the generator generates second teaching data regarding an operation of the robot corresponding to a difference between the first time-series data and the second time-series data before the actual task is executed by the robot; the first time-series data, the second time-series data, the first teaching data, and the second teaching data are based on the coordinate system; and the robot measures the marker of the coordinate system and recognizes the coordinate system. ### Claim 9 (depends on 8) The task teaching system according to claim 8, wherein the marker of the coordinate system is provided on a work table. ### Claim 10 (depends on 8) The task teaching system according to claim 8, further comprising a plurality of capturers provided in a task environment where the robot executes the task, wherein the outputter outputs the first time-series data and the second time-series data from a plurality of images of the grip target object acquired by the capturers. ### Claim 11 (depends on 10) The task teaching system according to claim 10, wherein the plurality of capturers captures three or more markers attached to the grip target object or three or more markers attached to the gripper unit. ### Claim 12 (depends on 8) The task teaching system according to claim 8, wherein the first time-series data and the second time-series data are time-series data regarding a position and an attitude of the grip target object. ### Claim 13 (depends on 8) The task teaching system according to claim 8, wherein when an error between the second time-series data and the first time-series data is more than a defined value, the generator generates the second teaching data. ### Claim 14 (depends on 8) The task teaching system according to claim 8, wherein the generator generates the second teaching data using an error between the second time-series data and the first time-series data.