Path generation for manual robot teaching
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsTakahiro MAEDA, Yuta ARITA, Motoharu MARUNO
Life of this patent
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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;
- and
- a teaching device communicative with the robot controller and configured to receive operations by an operator,
- wherein the robot controller comprises 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;
- move the robot toward the target position along the generated path;
- move, in response to determining that a moving direction is designated by the operator on the teaching device, the robot toward the moving direction;
- add, in response to an adding operation by the operator on the teaching device, a position of the robot at a time of the adding operation to a plurality of taught positions;
- and
- cause the robot to playback a taught motion defined by the plurality of taught positions including the position added in response to the adding operation.
A control method comprising:
- generating, in response to determining that a target position is designated by an operator on a teaching device, a path from a current position of a 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 a moving direction is designated by the operator on the teaching device, the robot toward the moving direction;
- adding, in response to an adding operation by the operator on the teaching device, a position of the robot at a time of the adding operation to a plurality of taught positions;
- and
- causing the robot to playback a taught motion defined by the plurality of taught positions including the position added in response to the adding operation.
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:
- generating, in response to determining that a target position is designated by an operator on a teaching device, a path from a current position of a 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 a moving direction is designated by the operator on the teaching device, the robot toward the moving direction;
- adding, in response to an adding operation by the operator on the teaching device, a position of the robot at a time of the adding operation to a plurality of taught positions;
- and
- causing the robot to playback a taught motion defined by the plurality of taught positions including the position added in response to the adding operation.
Dependencies are inferred from the claim text.