# US 12,759,148 B2 · Robot teaching method and device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,759,148 B2 - Document ID: US12759148B2 - Status: Granted - Kind: B2 - Application number: 18/849,852 - Filed: 2022-04-22 - Published: 2025-07-03 - Granted: 2026-10-13 - Earliest claimed: 2022-04-22 - Assignees: Hitachi High-Tech Corporation - Applicants: Hitachi High-Tech Corporation - Inventors: Takashi Saegusa; Masahiro Koyama; Tomohiro Inoue; Hiroki Takahashi; Shinichi Ishikawa - Web page: https://patentgrep.com/patent/US12759148B2 ## CPC - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 9/0081: {with leader teach-in means} - B25J 9/1697: {Vision controlled systems} - G05B 19/423: Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - G06T 2207/30196: Human being; Person - G06T 2207/30204: Marker - 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) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract A robot teaching method allows even a person without knowledge on robots to intuitively and efficiently teach a robot a work motion by a work demonstration while maintaining a normal human motion as much as possible, and reduces man-hours for pre-adjustment of teaching, facilitate the introduction, etc. by generating a motion of a robotic hand mechanism corresponding to a work motion including an operation on an operation object by a hand of a teacher. The method includes acquiring a first measured pose obtained by measuring a pose of the operation object and a second measured pose obtained by measuring a pose of the hand of the teacher during the work motion; detecting the operation on the operation object by the teacher; and generating a teaching pose for generating the robotic motion data based on the first measured pose, the second measured pose, and the detected operation. ## Claims ### Claim 1 A robot teaching method for performing teaching for generating robotic motion data based on measurement of a work motion including an operation on an operation object by a hand of a teacher, the robotic motion data including a sequence of joint displacement as a motion of a robotic hand mechanism of a robot corresponding to the work motion, the robot teaching method comprising, as steps performed by a computer system: a step of acquiring a first measured pose obtained by measuring a time-series pose including a position and a posture of the operation object during the work motion; a step of acquiring a second measured pose obtained by measuring a time-series pose including a position and a posture of the hand of the teacher during the work motion; a step of detecting the operation on the operation object by the teacher; and a step of generating a teaching pose for generating the robotic motion data based on the first measured pose, the second measured pose, and the detected operation; and a step of controlling the motion of the robot based on the robotic motion data generated by the teaching pose; wherein the step of generating the teaching pose includes a step of acquiring, as set correction data, correction data representing an operation restriction related to an operation pose when the robotic hand mechanism performs the operation on the operation object; wherein the teaching pose is generated by using the correction data to correct measurement data near the operation in the first measured pose and the second measured pose so as to satisfy the operation restriction; and wherein the step of performing correction to satisfy the operation restriction includes a step of acquiring a time point reaching a boundary of a range of the operation restriction in the first measured pose and the second measured pose is reached, and a step of additionally correcting, by statistical processing or noise removal, a portion of measurement data temporally before and after a corrected portion of the measurement data including the operation pose. ### Claim 2 (depends on 1) The robot teaching method according to claim 1, wherein the step of generating the teaching pose includes a step of acquiring difference data as an error of the second measured pose by the hand relative to the first measured pose of the operation object, and wherein the teaching pose is generated by using the difference data to correct measurement data near the operation in the first measured pose and the second measured pose so as to reduce the error. ### Claim 3 (depends on 2) The robot teaching method according to claim 2, wherein the step of generating the teaching data includes a step of acquiring the difference data at a time point corresponding to a timing of the detected operation, and a step of performing correction for reducing the error within a time range by tracing back to a past time point within the time range from the time point corresponding to the timing of the detected operation, the time range being determined in accordance with a set physical quantity. ### Claim 4 (depends on 3) The robot teaching method according to claim 3, wherein the step of performing correction for reducing the error within the time range is a step of correcting measurement data before the correction within the time range by statistical processing or noise removal. ### Claim 5 (depends on 2) The robot teaching method according to claim 2, wherein the step of generating the teaching data includes a step of, if a change relative to data temporally before and after of data after being subjected to the correction for reducing the error in measurement data near the detected operation does not satisfy a predetermined value set in advance, additionally correcting a data portion desired to satisfy the predetermined value by statistical processing or noise removal. ### Claim 6 (depends on 1) The robot teaching method according to claim 1, wherein the step of acquiring the first measured pose is a step of measuring a time-series pose including a position and a posture of a first marker placed on the operation object, the step of acquiring the second measured pose is a step of measuring a time-series pose including a position and a posture of a second marker placed on the hand of the teacher, the first marker and the second marker are marker plates each having an arrangement pattern based on a plurality of reflective markers unique to the marker, and the first marker and the second marker are measured by a camera. ### Claim 7 (depends on 1) The robot teaching method according to claim 1, wherein the step of detecting the operation on the operation object by the teacher is a step of detecting an operation instruction representing the operation input by the teacher using an instruction input device, or a step of detecting the operation by automatically determining the operation based on the first measured pose and the second measured pose. ### Claim 8 (depends on 1) The robot teaching method according to claim 1, wherein the operation restriction is determined according to a structure of the operation object and a structure of the robotic hand mechanism for operating the operation object, and includes a restriction range related to a direction and a distance of movement of the hand mechanism on each axis of a space coordinate system near the operation object. ### Claim 9 (depends on 1) The robot teaching method according to claim 1, wherein the operation restriction includes a restriction range related to at least one operation pose between a pose when the robotic hand mechanism approaches the operation object on a work table to perform the operation and a pose when the robotic hand mechanism leaves the operation object on the work table after performing the operation. ### Claim 10 (depends on 1) The robot teaching method according to claim 1, wherein the step of performing correction to satisfy the operation restriction includes a step of replacing a part of the measurement data near the operation in the first measured pose and the second measured pose with the operation pose. ### Claim 11 (depends on 1) The robot teaching method according to claim 1, wherein the step of performing correction to satisfy the operation restriction includes a step of acquiring a time point reaching a boundary of a range of the operation restriction in the first measured pose and the second measured pose, and a step of using the operation pose to perform correction such that measurement data at a time point corresponding to a timing at which the operation in the first measured pose and the second measured pose is detected and measurement data at the time point at the boundary of the range of the operation restriction are connected to each other. ### Claim 12 (depends on 6) The robot teaching method according to claim 6, wherein the first marker includes a first attachment for attaching the first marker to the operation object to maintain a pose correlation with the operation object, the second marker includes a second attachment for attaching the second marker to the hand to maintain a pose correlation with the hand of the teacher, and the operation on the operation object by the robotic hand mechanism is an operation on a location of the first attachment. ### Claim 13 A robot teaching device for performing teaching for generating robotic motion data based on measurement of a work motion including an operation on an operation object by a hand of a teacher, the robotic motion data including a sequence of joint displacement as a motion of a robotic hand mechanism of a robot corresponding to the work motion, the robot teaching device comprising a computer system, wherein the computer system is configured to: acquire a first measured pose obtained by measuring a time-series pose including a position and a posture of the operation object during the work motion; acquire a second measured pose obtained by measuring a time-series pose including a position and a posture of the hand of the teacher during the work motion; detect the operation on the operation object by the teacher; generate a teaching pose for generating the robotic motion data based on the first measured pose, the second measured pose, and the detected operation; and control the motion of the robot based on the robotic motion data generated by the teaching pose; wherein generating the teaching pose includes acquiring, as set correction data, correction data representing an operation restriction related to an operation pose when the robotic hand mechanism performs the operation on the operation object; wherein the teaching pose is generated by using the correction data to correct measurement data near the operation in the first measured pose and the second measured pose so as to satisfy the operation restriction; and wherein correction to satisfy the operation restriction includes acquiring a time point reaching a boundary of a range of the operation restriction in the first measured pose and the second measured pose is reached, and correcting, by statistical processing or noise removal, a portion of measurement data temporally before and after a corrected portion of the measurement data including the operation.