Control method, control apparatus, robot apparatus, method of manufacturing an article, motion program creation method, motion program creation apparatus, display apparatus, and control program recording medium
OwnerTakemi Tokuokainventor
Life of this patent
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Abstract
A control method of controlling a robot apparatus based on a plurality of teaching points includes setting a motion condition for each of the plurality of teaching points, selecting a teaching point at which the motion condition is to be changed, from among the plurality of teaching points, and obtaining a new teaching point that causes a pose of the robot apparatus to change at the selected teaching point.
Claims21
A control method of controlling a robot apparatus based on a plurality of teaching points, the control method comprising:
- setting a motion condition for each of the plurality of teaching points;
- selecting a teaching point at which the motion condition is to be changed, from among the plurality of teaching points;
- and
- obtaining a new teaching point that causes a pose of the robot apparatus to change at the selected teaching point.
A control apparatus that controls a robot apparatus based on a plurality of teaching points, the control apparatus configured to perform functions of:
- setting a motion condition for each of the plurality of teaching points;
- selecting a teaching point at which the motion condition is to be changed, from among the plurality of teaching points;
- and
- obtaining a new teaching point that causes a pose of the robot apparatus to change at the selected teaching point.
A motion program creation method of creating a motion program that controls motion of a robot apparatus based on a plurality of teaching points, the motion program creation method comprising:
- setting a motion condition for each of the plurality of teaching points;
- selecting a teaching point at which the motion condition is to be changed, from among the plurality of teaching points;
- and
- obtaining a new teaching point that causes a pose of the robot apparatus to change at the selected teaching point and creating the motion program.
A motion program creation apparatus that creates a motion program that controls a motion of a robot apparatus based on a plurality of teaching points, the motion program creation apparatus performing functions of:
- setting a motion condition for each of the plurality of teaching points;
- selecting a teaching point at which the motion condition is to be changed, from among the plurality of teaching points;
- and
- obtaining a new teaching point that causes a pose of the robot apparatus to change at the selected teaching point and creating the motion program.
A display apparatus that displays information regarding a plurality of teaching points set in a robot apparatus, the display apparatus configured to perform functions of:
- setting a motion condition for each of the plurality of teaching points;
- selecting a teaching point at which the motion condition is to be changed, from among the plurality of teaching points;
- obtaining a new teaching point that causes a pose of the robot apparatus to change at the selected teaching point;
- and
- displaying information regarding a teaching point with a changed pose and displaying a motion sequence for the teaching point.
Dependencies are inferred from the claim text.