US 2017/0095924 A1Published application

Teaching data preparation device and teaching data preparation method for articulated robot

AssigneeHonda Motor Co., Ltd.

InventorsMasahiro YAMANAKA, Masao SHIMOYAMA, Tetsuya YOSHINO, Shinji AOKI

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Abstract

The present invention relates to a teaching data preparation device and a teaching data preparation method for an articulated robot. Pre-existing position data that approximates new position data is retrieved from a database that, from among data related to working points for a pre-existing workpiece, stores for each working point pre-existing position data that indicates the position of the working point and pre-existing orientation data that indicates the orientation of an end effector at the working point. Next, pre-existing orientation data that is associated with the retrieved pre-existing position data is extracted. Next, incomplete new orientation data is completed using the extracted pre-existing orientation data. As a result of this series of processes, the precision of teaching data can be improved.

Claims9

Dependent claims

A teaching data preparation device for an articulated robot, for carrying out an operation in accordance with teaching data to sequentially move an end effector, which is attached to a distal end of an arm, to a plurality of working points that are set on a workpiece, comprising:

a preexisting data storage unit configured to store in association with each of the working points, and from among data relating to the working points of a preexisting workpiece, preexisting position data that indicates positions of the working points, and preexisting orientation data that indicates orientations of the end effector at the working points;
a new data supplying unit configured to supply, from among data relating to the working points of a new workpiece, new position data that indicates positions of the working points, and incomplete new orientation data that indicates orientations of the end effector at the working points;
and
an orientation data preparing unit configured to search for and retrieve from the preexisting data storage unit the preexisting position data that approximates the new position data of the new data supplying unit, extract the preexisting orientation data that is associated with the retrieved preexisting position data, and complete the incomplete new orientation data using the extracted preexisting orientation data.

1 more element

A teaching data preparation method for an articulated robot, for carrying out an operation in accordance with teaching data to sequentially move an end effector, which is attached to a distal end of an arm, to a plurality of working points that are set on a workpiece, comprising:

a new data supplying step of supplying, from among data relating to the working points of a new workpiece, new position data that indicates positions of the working points, and incomplete new orientation data that indicates orientations of the end effector at the working points;
a preexisting data searching step of searching for and retrieving preexisting position data that approximates the new position data supplied by the new data supplying step from a database in which, from among data relating to the working points of a preexisting workpiece, there are stored in association with each of the working points, preexisting position data that indicates positions of the working points, and preexisting orientation data that indicates orientations of the end effector at the working points;
a preexisting data extraction step of extracting the preexisting orientation data that is associated with the retrieved preexisting position data;
and
an orientation data preparation step of completing the incomplete new orientation data using the extracted preexisting orientation data.

2 more elements

Dependencies are inferred from the claim text.

Facts

Application: 15/308,002Filed 1 May 2014
Published: 6 Apr 2017
Term ends: Not estimatedThe source records don’t support an estimate.

Classification10 codes

G05B 19/42
Electric: recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being…
B25J 9/163
Characterised by the control loop: learning, adaptive, model based, rule based expert control
G05B 2219/36461
Nc in input of data, input key till input tape: teach for each next similar fixture, piece only some reference points
G05B 2219/36492
Nc in input of data, input key till input tape: record position and orientation, posture of probe, tool

Family

US 10,175,683 B2Related patent
US 2017/0095924 A1This patent

From the US filing history. Foreign family members aren’t listed.

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