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US 12,661,788 B2Granted
Manipulation apparatus, robot system, manipulation apparatus control method, and robot system control method
AssigneeCanon Kabushiki Kaisha
InventorSeigo Imamura
Life of this patent
Estimating the term…
Abstract
A manipulation apparatus configured to manipulate a robot includes a processor configured to, in a case where the robot interferes with an object and on a basis of a direction in which the robot receives a load from the object, determine a manipulation direction in which a manipulation of the robot is acceptable.
Claims24
A manipulation apparatus configured to manipulate a robot, the manipulation apparatus comprising:
- a processor configured to:
- display a user interface image including a plurality of manipulation buttons on a display portion, each manipulation button of the plurality of manipulation buttons corresponding to a respective direction of a plurality of directions of movement of the distal end of the robot, wherein, based on selection of one or more manipulation buttons among the plurality of manipulation buttons on the display portion, the processor is configured to instruct the distal end of the robot to operate in the respective directions corresponding to the selected one or more manipulation buttons;
- determine one or more directions in which the robot is not permitted to move based on a load that the robot is receiving from an object being maintained or increased;
- display, on the display portion, a first manipulation button of the plurality of manipulation buttons corresponding to a first direction in which the robot is permitted to move and a second manipulation button of the plurality of manipulation buttons corresponding to a second direction in which the robot is not permitted to move, the first manipulation button comprising a first image displayed in a first display form, the second manipulation button comprising a second image displayed in a second display form different from the first display form, wherein the determined one or more directions in which the robot is not permitted to move includes the second direction and does not include the first direction;
- and
- output a command to move the distal end of the robot in the first direction in response to a user's selection of the first manipulation button on the display portion.
3 more elements
A robot system comprising:
- a robot;
- and
- a manipulation apparatus configured to manipulate the robot,
- wherein the manipulation apparatus includes a processor configured to:
- display a user interface image including a plurality of manipulation buttons on a display portion, each manipulation button of the plurality of manipulation buttons corresponding to a respective direction of a plurality of directions of movement of the distal end of the robot, wherein, based on selection of one or more manipulation buttons among the plurality of manipulation buttons on the display portion, the processor is configured to instruct the distal end of the robot to operate in the respective directions corresponding to the selected one or more manipulation buttons;
- determine one or more directions in which the robot is not permitted to move based on a load that the robot is receiving from an object being maintained or increased;
- display, on the display portion, a first manipulation button of the plurality of manipulation buttons corresponding to a first direction in which the robot is permitted to move and a second manipulation button of the plurality of manipulation buttons corresponding to a second direction in which the robot is not permitted to move, the first manipulation button comprising a first image displayed in a first display form, the second manipulation button comprising a second image displayed in a second display form different from the first display form, wherein the determined one or more directions in which the robot is not permitted to move includes the second direction and does not include the first direction;
- and
- output a command to move the distal end of the robot in the first direction in response to a user's selection of the first manipulation button on the display portion.
6 more elements
A control method for a robot system including a robot and a manipulation apparatus configured to manipulate the robot, the control method comprising:
- controlling the robot of the robot system in accordance with an instruction from the manipulation apparatus,
- wherein the manipulation apparatus includes a processor configured to:
- display a user interface image including a plurality of manipulation buttons on a display portion, each manipulation button of the plurality of manipulation buttons corresponding to a respective direction of a plurality of directions of movement of the distal end of the robot, wherein, based on selection of one or more manipulation buttons among the plurality of manipulation buttons on the display portion, the processor is configured to instruct the distal end of the robot to operate in the respective directions corresponding to the selected one or more manipulation buttons;
- determine one or more directions in which the robot is not permitted to move based on a load that the robot is receiving from an object being maintained or increased;
- display, on the display portion, a first manipulation button of the plurality of manipulation buttons corresponding to a first direction in which the robot is permitted to move and a second manipulation button of the plurality of manipulation buttons corresponding to a second direction in which the robot is not permitted to move, the first manipulation button comprising a first image displayed in a first display form, the second manipulation button comprising a second image displayed in a second display form different from the first display form, wherein the determined one or more directions in which the robot is not permitted to move includes the second direction and does not include the first direction;
- and
- output a command to move the distal end of the robot in the first direction in response to a user's selection of the first manipulation button on the display portion.
4 more elements
A manufacturing method for a product, the manufacturing method comprising:
- manufacturing the product by using a robot system including a robot and a manipulation apparatus configured to manipulate the robot,
- wherein the manipulation apparatus includes a processor configured to:
- display a user interface image including a plurality of manipulation buttons on a display portion, each manipulation button of the plurality of manipulation buttons corresponding to a respective direction of a plurality of directions of movement of the distal end of the robot, wherein, based on selection of one or more manipulation buttons among the plurality of manipulation buttons on the display portion, the processor is configured to instruct the distal end of the robot to operate in the respective directions corresponding to the selected one or more manipulation buttons;
- determine one or more directions in which the robot is not permitted to move based on a load that the robot is receiving from an object being maintained or increased;
- display, on the display portion, a first manipulation button of the plurality of manipulation buttons corresponding to a first direction in which the robot is permitted to move and a second manipulation button of the plurality of manipulation buttons corresponding to a second direction in which the robot is not permitted to move, the first manipulation button comprising a first image displayed in a first display form, the second manipulation button comprising a second image displayed in a second display form different from the first display form, wherein the determined one or more directions in which the robot is not permitted to move includes the second direction and does not include the first direction;
- and
- output a command to move the distal end of the robot in the first direction in response to a user's selection of the first manipulation button on the display portion.
4 more elements
A control method for a manipulation apparatus configured to manipulate a robot, the control method comprising:
- displaying a user interface image including a plurality of manipulation buttons on a display portion, each manipulation button of the plurality of manipulation buttons corresponding to a respective direction of a plurality of directions of movement of the distal end of the robot, wherein, based on selection of one or more manipulation buttons among the plurality of manipulation buttons on the display portion, the processor is configured to instruct the distal end of the robot to operate in the respective directions corresponding to the selected one or more manipulation buttons;
- determining a direction one or more directions in which the robot is not permitted to move based on a load that the robot is receiving from an object being maintained or increased;
- displaying, on the display portion, a first manipulation button of the plurality of manipulation buttons corresponding to a first direction in which the robot is permitted to move and a second manipulation button of the plurality of manipulation buttons corresponding to a second direction in which the robot is not permitted to move, the first manipulation button comprising a first image displayed in a first display form, the second manipulation button comprising a second image displayed in a second display form different from the first display form, wherein the determined one or more directions in which the robot is not permitted to move includes the second direction and does not include the first direction;
- and
- outputting a command to move the distal end of the robot in the first direction in response to a user's selection of the first manipulation button on the display portion.
2 more elements
A non-transitory computer-readable recording medium storing a control program for causing a computer to execute a control method for causing a computer to execute a control method for a manipulation apparatus configured to manipulate a robot, the control method comprising:
- displaying a user interface image including a plurality of manipulation buttons on a display portion, each manipulation button of the plurality of manipulation buttons corresponding to a respective direction of a plurality of directions of movement of the distal end of the robot, wherein, based on selection of one or more manipulation buttons among the plurality of manipulation buttons on the display portion, the processor is configured to instruct the distal end of the robot to operate in the respective directions corresponding to the selected one or more manipulation buttons;
- determining one or more directions in which the robot is not permitted to move based on a load that the robot is receiving from an object being maintained or increased;
- displaying, on the display portion, a first manipulation button of the plurality of manipulation buttons corresponding to a first direction in which the robot is permitted to move and a second manipulation button of the plurality of manipulation buttons corresponding to a second direction in which the robot is not permitted to move, the first manipulation button comprising a first image displayed in a first display form, the second manipulation button comprising a second image displayed in a second display form different from the first display form, wherein the determined one or more directions in which the robot is not permitted to move includes the second direction and does not include the first direction;
- and
- outputting a command to move the distal end of the robot in the first direction in response to a user's selection of the first manipulation button on the display portion.
2 more elements
Dependencies are inferred from the claim text.