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US 12,569,995 B2Granted
Path generation for manual robot teaching
OwnerTakahiro Maeda, Yuta Arita +1inventors
InventorsTakahiro Maeda, Yuta Arita, Motoharu Maruno
Life of this patent
Estimating the term…
Abstract
A robot system includes: a robot; a robot controller configured to control the robot based on sequential taught positions; and a teaching device communicative with the robot controller and configured to receive operations by an operator, wherein the robot controller includes circuitry configured to: generate, in response to determining that a target position is designated by the operator on the teaching device, a path from a current position of the robot to the target position by simulation of moving the robot based on surrounding environmental information of the robot; and move the robot toward the target position along the generated path.
Claims20
A robot system comprising:
- a robot;
- a robot controller configured to control the robot using a plurality of taught positions;
- and
- a teaching device communicative with the robot controller and configured to receive operations by an operator that manually operates the robot by using the teaching device,
- wherein the robot controller comprises circuitry configured to:
- receive an operation on the teaching device while the operator manually operates the robot;
- identify a type of the received operation;
- generate, in response to determining that the type of the received operation is a target request that designates a target position of the robot, a path from a current position of the robot to the target position by simulation of moving the robot based on surrounding environmental information of the robot;
- move the robot toward the target position along the generated path;
- move, in response to determining that the type of the received operation is a moving request that designates a moving direction of the robot, the robot toward the moving direction;
- add, in response to determining that the type of the received operation is an adding request, a new taught position of the robot to the plurality of taught positions, wherein the new taught position is identified after moving the robot in response to determining the type of the received operation;
- and
- cause, in response to determining that the type of the received operation is a playback request, the robot to playback a taught motion defined by the plurality of taught positions including the new taught position identified after moving the robot.
10 more elements
A control method comprising:
- receiving an operation on a teaching device while an operator manually operates the robot by using the teaching device;
- identifying a type of the received operation;
- generating, in response to determining that the type of the received operation is a target request that designates a target position of the robot, a path from a current position of the robot to the target position by simulation of moving the robot based on surrounding environmental information of the robot;
- moving the robot toward the target position along the generated path;
- moving, in response to determining that the type of the received operation is a moving request that designates a moving direction of the robot, the robot toward the moving direction;
- adding, in response to determining that the type of the received operation is an adding request, a new taught position of the robot to the plurality of taught positions, wherein the new taught position is identified after moving the robot in response to determining the type of the received operation;
- and
- causing, in response to determining that the type of the received operation is a playback request, the robot to playback a taught motion defined by the plurality of taught positions including the new taught position identified after moving the robot.
5 more elements
A non-transitory memory device having instructions stored thereon that, in response to execution by a processing device, cause the processing device to perform operations comprising:
- receiving an operation on a teaching device while an operator manually operates the robot by using the teaching device;
- identifying a type of the received operation;
- generating, in response to determining that the type of the received operation is a target request that designates a target position of the robot, a path from a current position of the robot to the target position by simulation of moving the robot based on surrounding environmental information of the robot;
- moving the robot toward the target position along the generated path;
- moving, in response to determining that the type of the received operation is a moving request that designates a moving direction of the robot, the robot toward the moving direction;
- adding, in response to determining that the type of the received operation is an adding request, a new taught position of the robot to the plurality of taught positions, wherein the new taught position is identified after moving the robot in response to determining the type of the received operation;
- and
- causing, in response to determining that the type of the received operation is a playback request, the robot to playback a taught motion defined by the plurality of taught positions including the new taught position identified after moving the robot.
5 more elements
Dependencies are inferred from the claim text.