Motion editing apparatus and motion editing method for robot, computer program and robot apparatus

A motion editing method for editing motion data which define motions of a robot apparatus which includes an end effecter having a plurality of movable joints and capable of providing an operation to a particular operation object, comprising the steps of:

• inputting a character or a picture hand-written inputted by a user;
• discriminating, from within a trajectory plotted at the hand-written inputting step, a first portion which is being plotted and a second portion other than the first portion;
• outputting the trajectory being hand-written inputted by the user on a screen;
• deriving a three-dimensional trajectory design based on the two-dimensional plotting information inputted at the hand-written inputting step and a result of the discrimination at the plotting trajectory discrimination step;
• displaying the three-dimensional trajectory design derived at the three-dimensional trajectory design deriving step on a three-dimensional screen;
• re-arranging the three-dimensional trajectory design in a three-dimensional space, in which the robot apparatus works, in accordance with interactions of the user through said three-dimensional screen and designate an operation member by which plotting of a character or a picture is to be performed in accordance with the three-dimensional trajectory design;
• converting the re-arranged three-dimensional trajectory design into instruction values for joint actuators, which compose a designated operation member, for plotting using the designated operation member;
• and
• outputting step of outputting the converted instruction values as motion data which define the three-dimensional trajectory design in accordance with which the robot apparatus implements the character or the picture hand-written inputted by the user in the three-dimensional space.

A non-transitory program storage medium embedded with a computer program in computer-readable form so that a computer system that executes said program edits motion data which define motions of a robot apparatus which includes an operation member having a plurality of movable joints and capable of providing an operation to a particular operation object, said computer program causing said computer system to perform the method comprising the steps of:

• inputting a character or a picture hand-written inputted by a user;
• discriminating, from within a trajectory plotted at the hand-written inputting step, a first portion which is being plotted and a second portion other than the first portion;
• outputting the trajectory being hand-written inputted by the user on a screen;
• deriving a three-dimensional trajectory design based on the two-dimensional plotting information inputted at the hand-written inputting step and a result of the discrimination at the plotting trajectory discrimination step;
• displaying the three-dimensional trajectory design derived at the three-dimensional trajectory design deriving step on a three-dimensional screen;
• re-arranging the three-dimensional trajectory design in a three-dimensional space, in which the robot apparatus works, in accordance with interactions of the user through said three-dimensional screen and designate an operation member by which plotting of a character or a picture is to be performed in accordance with the three-dimensional trajectory design;
• converting the re-arranged three-dimensional trajectory design into instruction values for joint actuators, which compose a designated operation member, for plotting using the designated operation member;
• and
• outputting the converted instruction values as motion data which define the three-dimensional trajectory design in accordance with which the robot apparatus implements the character or the picture hand-written inputted by the user in the three-dimensional space.

A motion editing apparatus for editing motion data which define motions of a robot apparatus which includes an operation member having a plurality of movable joints and capable of providing an operation to a particular operation object, comprising:

• a hand-written inputting section configured to allow a user to hand-written input a character or a picture to be plotted by the robot apparatus;
• a plotting trajectory discrimination section configured to discriminate, from within a trajectory plotted through said hand-written inputting section, a first portion which is being plotted and a second portion other than the first portion;
• a hand-written input information display section configured to output the trajectory being hand-written inputted by the user on a screen;
• a three-dimensional trajectory design deriving section configured to derive a three-dimensional trajectory design based on the two-dimensional plotting information inputted through said hand-written inputting section and a result of the discrimination by said plotting trajectory discrimination section;
• a three-dimensional trajectory design display section configured to display the three-dimensional trajectory design derived by said three-dimensional trajectory design deriving section on a three-dimensional screen;
• an interaction section configured to re-arrange the three-dimensional trajectory design in a three-dimensional space, in which the robot apparatus works, in accordance with interactions of the user through said three-dimensional screen and designate an operation member by which plotting of a character or a picture is to be performed in accordance with the three-dimensional trajectory design;
• an instruction value conversion section configured to convert the re-arranged three-dimensional trajectory design into instruction values for joint actuators, which compose a designated operation member, for plotting using the designated operation member;
• and
• a motion data outputting section configured to output the converted instruction values as motion data which define the three-dimensional trajectory design in accordance with which the robot apparatus implements the character or the picture hand-written inputted by the user in the three-dimensional space.