Back to results
US 9,104,981 B2Granted
Robot teaching system and method using imaging based on training position
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsYukiko Sawada, Tomoyuki Sekiyama, Kenichi Motonaga
Life of this patent
Estimating the term…
Abstract
This robot teaching system includes a teaching tool including an operation portion operated by a user to specify teaching positions and specifying the teaching positions, a measuring portion measuring positions and postures of the teaching tool, and a control portion determining the teaching positions for a robot. The robot teaching system is configured to specify the teaching positions continuously while the user operates the operation portion of the teaching tool.
Claims19
A robot teaching system comprising:
- a teaching tool including an operation portion operated by a user to specify teaching positions and being located in positions as operating positions of a robot to specify the teaching positions;
- a measuring portion measuring positions and postures of the teaching tool in the teaching positions specified by the teaching tool;
- and
- a control portion determining the teaching positions for the robot on the basis of the positions and postures of the teaching tool measured by the measuring portion,
- wherein the robot teaching system js configured to specify the teaching positions continuously while the user operates the operation portion of the teaching tool, and
- wherein the measuring portion includes an imaging portion imaging the teaching tool in the teaching positions specified by the teaching tool so that the positions and the postures of the teaching tool can be recognized, the postures being respective orientations of the teaching tool at the positions.
3 more elements
A robot teaching system comprising:
- a teaching tool including an operation portion operated by a user to specify teaching positions and being located in positions as operating positions of a robot to specify the teaching positions;
- a measuring portion measuring positions and postures of the teaching tool in the teaching positions specified by the teaching tool;
- and
- a control portion determining the teaching positions for the robot on the basis of the positions and postures of the teaching tool measured by the measuring portion, the postures being respective orientations of the teaching tool at the positions,
- wherein the robot teaching system is configured to specify the teaching positions continuously while the user operates the operation portion of the teaching tool,
- wherein the teaching tool includes a notification portion, and
- wherein the control portion is configured to determine whether or not the robot is movable to positions and postures corresponding to the positions and postures of the teaching tool and perform control of notifying the user of a determination result with the notification portion of the teaching tool.
4 more elements
A robot teaching method comprising:
- specifying teaching positions as operating positions of a robot on the basis of that a user operates an operation portion of a teaching tool in a state where the teaching tool is located in the teaching positions;
- measuring positions and postures of the teaching tool in the teaching positions specified by the teaching tool;
- and
- generating a teaching program for the robot by determining the teaching positions for the robot on the basis of the measured positions and postures of the teaching tool,
- wherein specifying the teaching positions includes specifying the teaching positions continuously while the user operates the operation portion, moving the teaching tool, and
- wherein measuring the positions and postures of the teaching tool includes imaging the teaching tool in the teaching positions specified by the teaching tool and computing the positions and postures of the teaching tool on the basis of an imaging result, the postures being respective orientations of the teaching tool at the positions.
3 more elements
A robot teaching method comprising:
- specifying teaching positions as operating positions of a robot on the basis of that a user operates an operation portion of a teaching tool in a state where the teaching tool is located in the teaching positions;
- measuring positions and postures of the teaching tool in the teaching positions specified by the teaching tool, the postures being respective orientations of the teaching tool at the positions;
- generating a teaching program for the robot by determining the teaching positions for the robot on the basis of the measured positions and postures of the teaching tool;
- determining whether or not the robot is movable to positions and postures corresponding to the positions and postures of the teaching tool;
- and
- notifying the user of a result of determination whether or not the robot is movable to the positions and the postures corresponding to the positions and postures of the teaching tool with a notification portion of the teaching tool,
- wherein specifying the teaching positions includes specifying the teaching positions continuously while the user operates the operation portion, moving the teaching tool.
4 more elements
Dependencies are inferred from the claim text.