Teaching device for robot, robot apparatus, method of controlling teaching device for robot, and control program of teaching device for robot
AssigneePanasonic Intellectual Property Management Co., Ltd.
InventorsTaichi Sato, Yudai Fudaba, Yuko Tsusaka
Life of this patent
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Abstract
In a teaching device for robot that moves a flexible body holding unit holding a flexible body and performs teaching of a fitting task of the flexible body to a thing to generate teaching data, a reaching decision unit decides that a front end of the flexible body reaches the thing, a curvature acquiring unit acquires information of evaluation of a degree of curvature of the flexible body when the reaching decision unit decides the reaching, and a notification unit performs predetermined notification about teaching on the basis of the acquired information of evaluation.
Claims21
A teaching device for a robot comprising a flexible body holding unit capable of holding a flexible body and a drive unit that moves the flexible body holding unit in a predetermined direction to perform a fitting task of the flexible body to an object, in which teaching data is generated through teaching of the fitting task, the teaching device comprising:
- a reaching decision unit that decides that a front end of the flexible body reaches the object;
- a curvature acquiring unit that acquires information of evaluation of a degree of curvature of the flexible body when the reaching decision unit decides that the front end of the flexible body reaches the object;
- and
- a notification unit that performs notification about the teaching based on the information of evaluation acquired by the curvature acquiring unit.
A teaching device for a robot comprising a flexible body holding unit capable of holding a flexible body and a drive unit that moves the flexible body holding unit in a predetermined direction to perform a fitting task of the flexible body to an object, in which a plurality of teaching data is generated through teaching of the fitting task, comprising:
- a reaching decision unit that decides that a front end of the flexible body reaches the object;
- a curvature acquiring unit that acquires information of evaluation of a degree of curvature of the flexible body when the reaching decision unit decides that the front end of the flexible body reaches the object;
- and
- a selecting unit that selects teaching data having an evaluation ranked higher than other evaluations from the plurality of teaching data based on the information of evaluation acquired by the curvature acquiring unit.
A method of controlling a teaching device for a robot comprising a flexible body holding unit capable of holding a flexible body, and a drive unit that moves the flexible body holding unit in a predetermined direction to perform a fitting task of the flexible body to an object, in which teaching data is generated through teaching of the fitting task, the method comprising:
- causing a reaching decision unit to decide that a front end of the flexible body reaches the object;
- causing a curvature acquiring unit to acquire information of evaluation of a degree of curvature of the flexible body when the reaching decision unit decides that the front end of the flexible body reaches the object;
- and
- causing a notification unit to perform predetermined notification about the teaching based on the information of evaluation acquired by the curvature acquiring unit.
A method of controlling a teaching device for a robot comprising a flexible body holding unit capable of holding a flexible body, and a drive unit that moves the flexible body holding unit in a predetermined direction to perform a fitting task of the flexible body to an object, in which a plurality of teaching data is generated through teaching of the fitting task, the method comprising:
- causing a reaching decision unit to decide that a front end of the flexible body reaches the object;
- causing a curvature acquiring unit to acquire information of evaluation of a degree of curvature of the flexible body when the reaching decision unit decides that the front end of the flexible body reaches the object;
- and
- causing a selecting unit to select a teaching data having an evaluation ranked higher than other evaluations from the plurality of teaching data based on the information of evaluation acquired by the curvature acquiring unit.
A non-transitory computer-readable recording medium including a control program of a teaching device for a robot comprising a flexible body holding unit capable of holding a flexible body, and a drive unit that moves the flexible body holding unit in a predetermined direction to perform a fitting task of the flexible body to an object, in which teaching data is generated through teaching of the fitting task, the control program causing a computer to function as:
- a reaching decision unit that decides that a front end of the flexible body reaches the object;
- a curvature acquiring unit that acquires information of evaluation of a degree of curvature of the flexible body when the reaching decision unit decides that the front end of the flexible body reaches the object;
- and
- a notification unit that performs notification about the teaching based on the information of evaluation acquired by the curvature acquiring unit.
A non-transitory computer-readable recording medium including a control program of a teaching device for a robot comprising a flexible body holding unit capable of holding a flexible body, and a drive unit that moves the flexible body holding unit in a predetermined direction to perform a fitting task of the flexible body to an object, in which a plurality of teaching data is generated through teaching of the fitting task, the control program causing a computer to function as:
- a reaching decision unit that decides that a front end of the flexible body reaches the object;
- a curvature acquiring unit that acquires information of evaluation of a degree of curvature of the flexible body when the reaching decision unit decides that the front end of the flexible body reaches the object;
- and
- a selecting unit that selects teaching data having an evaluation ranked higher than other evaluations from the plurality of teaching data based on the information of evaluation acquired by the curvature acquiring unit.
A teaching device for a robot comprising a flexible body holding unit capable of holding a flexible body, and a drive unit that moves the flexible body holding unit in a predetermined direction to perform a fitting task of the flexible body to an object, in which teaching data is generated through teaching of the fitting task, the device comprising:
- a reaching decision unit that decides that a front end of the flexible body reaches the object;
- an orientation acquiring unit that acquires an orientation of the flexible body holding unit;
- a curvature acquiring unit that acquires an angle between a direction of the orientation acquired by the orientation acquiring unit and a predetermined direction determined in advance;
- and
- a notification unit that performs notification about the teaching based on the angle acquired by the curvature acquiring unit.
A teaching device for a robot comprising a flexible body holding unit capable of holding a flexible body and a drive unit that moves the flexible body holding unit in a predetermined direction to perform a fitting task of the flexible body to an object, in which a plurality of teaching data is generated through teaching of the fitting task, the device comprising:
- an orientation acquiring unit that acquires an orientation of the flexible body holding unit;
- a curvature acquiring unit that acquires an angle between a direction of the orientation acquired by the orientation acquiring unit and a predetermined direction determined in advance;
- and
- a selecting unit that selects teaching data having an evaluation ranked higher than other evaluations from the plurality of teaching data based on the angle acquired by the curvature acquiring unit.
Dependencies are inferred from the claim text.