# US 12,564,952 B2 · Robot teaching device and work teaching method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,564,952 B2 - Document ID: US12564952B2 - Status: Granted - Kind: B2 - Application number: 18/011,982 - Filed: 2020-06-25 - Published: 2023-09-07 - Granted: 2026-03-03 - Earliest claimed: 2020-06-25 - Assignees: Hitachi High-Tech Corporation - Applicants: Hitachi High-Tech Corporation - Inventors: Masahiro Koyama; Shogo Ogawara; Shinichi Ishikawa; Tomohiro Inoue - Web page: https://patentgrep.com/patent/US12564952B2 ## CPC - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 9/0081: {with leader teach-in means} - 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 2219/35444: Gesture interface, controlled machine observes operator, executes commands - G05B 2219/36442: Automatically teaching, teach by showing - 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 An operation is generated in which a robot can perform work without causing interference with a surrounding structure within a movable range of the robot. The robot teaching device relates to a work teaching device that teaches work to a robot that holds and moves a held object. The device includes a teaching pose measurement unit configured to measure and/or calculate a teaching pose that is a pose of the held object during teaching work, and a robot operation generation unit configured to generate a joint displacement sequence of the robot such that a pose of a held object of the same type as the held object whose teaching pose is measured becomes the same pose as the teaching pose. ## Claims ### Claim 1 A robot teaching device for teaching work to a robot configured to hold and move a held object with a plurality of holding portions, the robot teaching device comprising: a teaching pose measurement unit configured to measure and/or calculate a teaching pose that is a pose of a first held object held by a teacher during teaching work; and a robot operation generation unit configured to generate a joint displacement sequence of the robot such that a pose of a second held object held by the robot becomes the same pose as the teaching pose, wherein the robot operation generation unit is configured to display a countermeasure that is within the movable range and enables avoiding of the interference, and to allow a user to select the countermeasure; and in a case where the calculated joint displacement sequence of the robot exceeds a movable range of the robot, or in a case where it is determined that interference occurs between the robot and a surrounding structure when the robot is driven according to the calculated joint displacement sequence, the robot operation generation unit changes at least one of a position of the second held object, displacement of another joint that is not a driving target when it is determined that the movable range is exceeded or the interference occurs, or a position of a pedestal on which the robot is mounted, while maintaining a relationship of relative positions and relative postures between the holding portions. ### Claim 2 (depends on 1) The robot teaching device according to claim 1, wherein the teaching pose measurement unit measures and/or calculates a trajectory of at least one reference point of the first held object, and the robot operation generation unit generates the joint displacement sequence based on the trajectory of the at least one reference point of the first held object. ### Claim 3 (depends on 1) The robot teaching device according to claim 1, wherein the teaching pose measurement unit measures and/or calculates the teaching pose in time series, and the robot operation generation unit generates the joint displacement sequence synchronized with the time series of the teaching pose. ### Claim 4 (depends on 1) The robot teaching device according to claim 1, wherein the robot operation generation unit measures and/or calculates a pose of a holding portion of the robot by coordinate conversion based on a positional relationship between a held object coordinate system with reference to the first held object and a holding portion coordinate system with reference to the holding portion of the robot. ### Claim 5 (depends on 4) The robot teaching device according to claim 4, wherein the robot operation generation unit calculates a pose of a link tip of the robot based on the teaching pose by coordinate conversion based on a positional relationship between the holding portion coordinate system with reference to the holding portion of the robot and a link tip coordinate system with reference to a center of a wrist flange of the robot. ### Claim 6 (depends on 5) The robot teaching device according to claim 5, wherein the robot operation generation unit generates the joint displacement sequence by calculating joint displacement of the robot as a solution of inverse kinematics calculation based on time-series data on the pose of the link tip. ### Claim 7 (depends on 1) The robot teaching device according to claim 1, wherein the robot operation generation unit changes the position of the second held object by translating a position, where the second held object is to be located, in at least one of forward, backward, leftward, rightward, upward, and downward directions. ### Claim 8 (depends on 1) The robot teaching device according to claim 1, wherein the robot operation generation unit changes displacement of a waist joint of the robot as the other joint. ### Claim 9 (depends on 1) The robot teaching device according to claim 1, wherein the robot operation generation unit translates the position of the pedestal, on which the robot is mounted, in any one of forward, backward, leftward, rightward, upward, and downward directions. ### Claim 10 (depends on 1) The robot teaching device according to claim 1, further comprising: a work scenario editing unit configured to describe a series of work including at least one unit operation as a work scenario based on data generated by the robot operation generation unit; and a work scenario execution unit configured to sequentially interpret the work scenarios and cause the robot to execute the unit operation. ### Claim 11 (depends on 10) The robot teaching device according to claim 10, wherein the work scenario editing unit includes a robot unit operation display portion configured to select the unit operation and display the unit operation as a two-dimensional or three-dimensional moving image or a trajectory of a holding portion of the robot, and a robot state display portion configured to display joint displacement of the robot, a pose of the holding portion of the robot, a position of the pedestal on which the robot is mounted which are displayed by the robot unit operation display portion. ### Claim 12 (depends on 11) The robot teaching device according to claim 11, wherein in a case where another unit operation is to be added to the series of work, when the pose of the holding portion in the unit operation serving as a connection target does not match a pose of the holding portion in the unit operation to be added, the work scenario editing unit connects these poses by continuously interpolating. ### Claim 13 (depends on 12) The robot teaching device according to claim 12, further comprising: a display unit configured to display whether there is a mismatch between the pose of the holding portion in the unit operation serving as the connection target and a pose of the holding portion in the unit operation to be added. ### Claim 14 A work teaching method for teaching work to a robot configured to hold and move a held object with a plurality of holding portions, the work teaching method comprising: a teaching pose measurement step of measuring and/or calculating a teaching pose that is a pose of a first held object held by a teacher during teaching work; a holding portion pose calculation step of calculating a pose of a holding portion of the robot that holds a second held object based on data on the pose of the first held object; a robot operation generation step of searching for a solution of joint displacement that does not cause interference with a surrounding structure within a movable range of the robot and generating a joint displacement sequence executable by the robot by calculating a joint displacement sequence of the robot as a solution of inverse kinematics calculation based on data on the pose of the holding portion, and in a case where joint displacement of the robot exceeds the movable range at that time, or in a case where interference occurs between the robot and the surrounding structure when the robot is driven according to the calculated joint displacement sequence, changing at least one of a pose to be taken by the second held object, displacement of another joint that is not a driving target when it is determined that the movable range is exceeded or the interference occurs, or a position of a pedestal on which the robot is mounted, while maintaining a relationship of relative positions and relative postures between the holding portions; a work scenario editing step of, treating the joint displacement sequence as a unit operation of the robot for a certain period of time, describing a series of work including at least one unit operation as a work scenario, and in a case of selecting a unit operation of the robot and adding and connecting the selected unit operation as a unit operation continuous with a certain unit operation in the work scenario, when a pose of the holding portion of the robot in the unit operation in the series of work does not match a pose of the holding portion of the robot in the unit operation to be added, generating a joint displacement sequence of the robot for continuously interpolating between these poses without causing interference with the surrounding structure within the movable range of the robot, and inserting the interpolation operation into the work scenario; a work scenario execution step of sequentially interpreting and executing the work scenarios; and a robot joint axis control step of performing drive control on a joint axis of the robot according to the work scenarios. ### Claim 15 A robot teaching device for teaching work to a robot configured to hold and move a held object, the robot teaching device comprising: a teaching pose measurement unit configured to measure and/or calculate a teaching pose that is a pose of a first held object held by a teacher during teaching work; a robot operation generation unit configured to generate a joint displacement sequence of the robot such that a pose of a second held object held by the robot becomes the same pose as the teaching pose; and a display unit configured to display a trajectory of a holding portion of the robot according to the sequence generated by the robot operation generation unit, wherein the display unit is configured to display a position on the trajectory, the position exceeding a movable range of the robot or causing interference with a surrounding structure, and the robot operation generation unit is configured to display a countermeasure that is within the movable range and enables avoiding of the interference, and to allow a user to select the countermeasure.