CN107666988A - Method for determining path point - Google Patents
Method for determining path point Download PDFInfo
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- CN107666988A CN107666988A CN201680031527.8A CN201680031527A CN107666988A CN 107666988 A CN107666988 A CN 107666988A CN 201680031527 A CN201680031527 A CN 201680031527A CN 107666988 A CN107666988 A CN 107666988A
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- CN
- China
- Prior art keywords
- path point
- surrounding environment
- temperature
- detected
- temperature distribution
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35444—Gesture interface, controlled machine observes operator, executes commands
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37266—Infrared
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37426—Detected with infrared sensor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37567—3-D vision, stereo vision, with two cameras
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39441—Voice command, camera detects object, grasp, move
Abstract
The present invention relates to a kind of method for determining the path point for robotic programming, including：The first Temperature Distribution of surrounding environment is detected, and path point is determined in the case of the first Temperature Distribution detected by use.The invention further relates to a kind of corresponding system for determining the path point for robotic programming.
Description
Technical field
Determine that being used for robot compiles the present invention relates to a kind of method for determining the path point for robotic programming and one kind
The corresponding system of the path point of journey.
Background technology
The processing equipment that robot (and particularly industrial robot) is freely programmable, is controlled by the program.It is actual
Robot mechanism be commonly known as executor, it can be made up of multiple movable segmental appendages or axle.By to motor (and
Particularly servomotor) targetedly regulation can move each axle for progress.
In the course of the work, such as during welding process or bending, corresponding executor generally cross a track or
Path, wherein, each point in the path is preset by robot program or path planning.Here, term " is advised in path
Draw " generally describe for make executor move method and apparatus.In order to be programmed to robot program, it is necessary to first
Detect or preset the position for each path point that executor should drive towards.Others put the detailed road of executor in other words
Footpath motion is calculated by means of algorithm, such as point to point path planning (English：) or so-called batten point-to-point
Path planning.This setting for setting " teaching " to path point in other words or treating the path crossed to each path point
It is very time-consuming step in robotic programming.In principle, it is possible to distinguish two kinds of different modes：Online programming and offline volume
Journey.
In off-line programing, each path point can be for example generated by means of CAD model or simulation tool.Here, by
The motion flow of executor is determined in virtual three-dimensional simulation environment can be used, therefore does not need executor to create journey
Sequence.
In online programming, programming is carried out directly on executor.Therefore, can for example special hand-held be used to program
Equipment guides executor directly to drive towards another point from a bit, and records close path point and storage herein.It is but this
Method is very time-consuming and not directly perceived.A kind of in addition, another modification as online programming, it is also known that playback side
Method (Playback-Verfahren).In this case, programmer along path to be crossed later by directly guiding behaviour
Vertical device moves executor.Each point is recorded during this period and is sent it in corresponding robot program.But it is this
Special safety preparation must be taken, in order to avoid the manipulated device injury of programmer.Another modification as online programming, it is known that
Also have a kind of PdV- methods (demonstration programmed method, German：Programmieren-durch-Vormachen-
Verfahren), in the method using a variety of sensors and machine learning method, to be transported by corresponding executor
Move and carry out mimic human movements.
A kind of method for teaching path point as known to patent document US2014/0201112A1, is used in the method
A kind of specially treated equipment equipped with illumination component.This method is equally unfavorable, because must essentially provide
This special processing equipment, and in order that also need to accordingly train programmer with the processing equipment.
The content of the invention
Therefore, it is an object of the present invention to provide a kind of method and a germline that can limit robot workflow
System, wherein, at least partially overcome disadvantages mentioned above.It is another object of the present invention to provide a kind of method and system, profit
The path point of robotic programming can intuitively and be reliably determined with this method and system.
The above-mentioned purpose and other those purposes seen when reading following description of the present invention passes through according to power
Profit requires that 1 method and system according to claim 10 are realized.
The present invention relates to a kind of method determined for robot program's path point of robotic programming in other words.Therefore,
One or more path points for robotic programming can be determined to using the method according to the invention.Term " machine
People programs " include herein：Correspondingly the motion flow of robot or executor is preset with one or more path points.Institute
The path point of determination can be for example integrated directly into robot program or path planning, or is considered for creating so
Robot program or path planning.Here, during this method can be preferably used in the offline or online programming of executor.
This method includes：The first Temperature Distribution of surrounding environment is detected, and is using the first detected temperature point
Path point is determined in the case of cloth.Here, for example it can preferably be determined when the path that should determine to be made up of multiple path points
More than one path point.Preferably, further detect by means of temperature measuring equipment and preferably by means of thermal imaging camera
Temperature Distribution.
It may be thus possible, for example, to detect the thermal characteristics being present on surrounding surface, and can be come using this feature true
Determine path point.Here, advantageously no longer need to carry out executor complicated simulation or directly guiding.
Term " surrounding environment " includes the target and object that may be for example introduced in robotic programming at this.Therefore,
Such as workpiece may belong to the term " surrounding environment ", these workpiece should be by means of executor (and corresponding robot program)
Handled.Surrounding environment can also include surface that is flat or being structured, such as wall, floor, table, mold etc..
Similarly, surrounding environment can also include one or more executors.
Preferably, this method also includes producing temperature change in surrounding environment, wherein, preferably by making the step of the generation
User is simultaneously particularly carried out by people.It is further preferred that surrounding environment is touched by using finger to carry out the production of temperature change
It is raw.Herein it is particularly preferred that the first detected Temperature Distribution of surrounding environment is characterised by by user the ring around
Caused temperature change on border.
Therefore, the method according to the invention allows to limit corresponding path point by the touching to surrounding environment.Here,
In order to determine path point, hot trace can be detected and handled.These hot traces are for example produced by user by surface touching
It is raw.Because the body temperature (about 37 DEG C) of people is typically not equal to environment temperature, therefore by touching of the user to surrounding environment, make week
Collarette border is locally heated (or partly cooling down).
Therefore, user for example can allow hot path to produce by making firefinger movement on the arbitrary surfaces of surrounding environment
It is raw, it can determine the path point for robotic programming according to these hot paths.Therefore, the method according to the invention provides one
It is kind simple and intuitively method limits the path-line that desired, such as executor should cross.Alternatively, user also may be used
Only to touch a single point in surrounding environment, these a single points are considered for determining corresponding path point.Therefore, to path point
Determination preferably include determine in surrounding environment caused temperature change.Therefore, for example simple identification can be applied to calculate
Method, to determine hot trace or determine single, point-by-point focus.According to used part (such as thermal imaging camera), touched
Touch depending on time between the characteristic on surface, environment temperature, touching and detection temperature distribution etc., finger touching should long enough when
Between carry out, so as to clearly determine path point as far as possible.
Herein it is further preferred that producing temperature change includes producing diagram form temperature change.For example, user can profit
Specific gesture is crossed in surrounding environment with its finger, so that resulting temperature change reflects the gesture.Example
Such as, therefore user can cross cross figure, circle diagram shape, the arrow of stylization or similar symbol with finger in surrounding environment
Number or figure.Here, this diagram form temperature change can also be by two fingers along while surrounding environment, for example parallel
Guiding and produce.Further preferably, the determination to path point is included to the distribution of the robot motion limited in advance.By true
The fixed thus caused temperature change in surrounding environment, gesture can be identified figure in other words, and in robot program
It is assigned to corresponding robot motion.So that user can determine specific robot motion, example with intuitive manner
Measured as started or stopping.
Preferably, this method also includes：Detect the second temperature distribution of surrounding environment.Here, the determination to path point is excellent
It is selected in and uses detected second temperature to be carried out in the case of being distributed.Preferably, such as because user is to surrounding environment
Influence, second temperature distribution is different from the first Temperature Distribution.For example, the first Temperature Distribution of surrounding environment can be detected, then
Temperature change is caused in surrounding environment by user, and (its mode is that the user touches such as surrounding environment with his finger
A bit), and then detect surrounding environment second temperature distribution.Made in other words according to two detected Temperature Distributions
In the case of with these Temperature Distributions, it is determined that path point corresponding with the position that finger is touched.Further preferably, path is determined
Point includes comparing the first Temperature Distribution and second temperature distribution.Can effectively it be determined by such comparison：Whether and week
Which region in collarette border is for example touched by user, and should be used for determining path point.
Preferably, this method also includes：The 3-D view of surrounding environment is detected, and based on detected 3-D view
To determine that the three-dimensional structure of surrounding environment is distributed.Therefore, the Temperature Distribution of surrounding environment is not only detected, and detects graphics
Picture.Here, three-dimensional structure distribution includes the information on surrounding ambient arrangement, such as height is distributed.In addition, using week
The determination to path point is carried out in the case of the identified three-dimensional structure distribution in collarette border.So that even in its geometric form
Shape can also identify hot trace on unknown surface in advance.Here, it can be identified by means of 3-D view：Space or surrounding environment
Which three-dimensional coordinate is used to determine path point.Furthermore it is preferred that detect 3-D view by means of 3D cameras.
Preferably, this method also includes：Identified path point is supplied to executor controller.Further preferably, originally
Method also includes：Executor is controlled according to identified path point, wherein, this control is entered by means of executor controller
OK.Here, identified path point can particularly preferably be provided for Spline Path planning or point to point path planning.Cause
This, directly can correspondingly control executor using identified path point.For example, user can touch an object, so
After the object can be caught by an executor by means of the method according to the invention.Such executor or robot motion
Complicated programming is not needed, exactly the present invention allows intuitively to determine path point.
Preferably, this method also includes：Phonetic order is received, and in the case where using received voice command really
Determine path point.Therefore, the detection to Temperature Distribution, programmer are for example controlled by means of corresponding voice command by programmer
This method can be intuitively controlled using its sound.Preferably, phonetic order is received by means of microphone.Therefore, it is our
Method is more directly perceived, advantageously need not carry out long-time teaching to programmer herein.Preferably, can be existed by means of phonetic order
Switched between two method modes, wherein preferably, a kind of method mode is to determine list based on for example single hot spot
Individual path point, another method mode are for example to determine path based on hot trace.
Preferably, surrounding environment has substantially flat surface, such as plate or glass planar.Detection temperature distribution is also excellent
Choosing includes detecting the Temperature Distribution of substantially flat surface.Therefore, programmer for example can touch table by using his forefinger
Face, such as specific path is preset with his finger in substantially flat surface, then as produced by this touching
Hot trace can be detected, and be considered for calculate determine path point in other words.Therefore, this method is very sane,
Because for example fragile touch-sensitivity processing equipment need not be used to program.Those skilled in the art should be understood that herein：With application
Correspondingly suitable material of the selection with suitable thermal conductivity.Here, those skilled in the art especially should be understood that：With height
Material, such as steel of thermal conductivity can be touched for example, by finger to be easy to produce temperature change, but wherein, caused local temperature
Degree rising may be easy to dissipate.Those skilled in the art should also be understood that：Material, such as timber with low heat conductivity
It may receive more poorly for example due to heat caused by finger touching, but local temperature, which rises, can continue longer time.Cause
This, such as surface (such as plank) can be set into corresponding coating (such as copper coating) depending on application form, so as to
Enough realized under meaning of the present invention optimally determines path point.
The invention further relates to a kind of system for determining to be used for the path point of robotic programming in other words for robot program.
Here, the system includes：Temperature measuring equipment, it is arranged for the first Temperature Distribution for detecting surrounding environment；And control
Device, it is arranged to determine path in the case of using by means of the first Temperature Distribution detected by temperature measuring equipment
Point.Here, temperature measuring equipment preferably includes thermal imaging camera.
Preferably, the system also has camera, and the camera is arranged for detecting the 3-D view of surrounding environment, and institute
Controller is stated to be also configured to determine path point in the case of the 3-D view detected by use, wherein, camera preferably wraps
Include 3D cameras.
Preferably, the system has the microphone for being arranged for receiving phonetic order, and the controller is also set
It is set to and determines path point in the case of the phonetic order received by use.
The all parts of the system can (partly) be implemented separately, or can also (partly) be provided to single
Device.For example, controller and microphone can be provided in a single device, such as in portable computer.In addition, example
As controller can be realized together with robot controller, and/or temperature can be provided in corresponding robot or executor
Measurement apparatus.
Term " Temperature Distribution " can under meaning of the present invention include by user in surrounding environment caused temperature
Change.This temperature change caused in surrounding environment can especially preferably include a single focus, and/or including by
The hot trace of multiple focus compositions.Here, term " focus " includes having uniqueness due to its (relative) temperature in surrounding environment
The single point of property.For example, the focus in a plane, which has, puts higher or lower temperature than remaining in the plane.
This, such as plane can be touched point by point by using finger to produce such (one-dimensional) focus.In contrast, " hot trace " not only leads to
Cross the point-by-point touching to plane to produce, but also for example produced by crossing a line in plane.Hence, it can be determined that example
The path-line that device crosses should be manipulated such as during welding process, to establish specific weld seam.
Brief description of the drawings
The present invention is elaborated with reference to the accompanying drawings.Wherein：
Fig. 1 diagrammatically illustrates the determination to path point according to a kind of embodiment；
Fig. 2 diagrammatically illustrates the determination to path point according to another embodiment；
Fig. 3 diagrammatically illustrates the flow for being used to determine the method for path point according to a kind of embodiment；
Fig. 4 diagrammatically illustrates the flow for being used to determine the method for path point according to another embodiment；With
Fig. 5 diagrammatically illustrates the flow for being used to determine the method for path point according to another embodiment.
Embodiment
The determination to path point according to one embodiment of the present invention is diagrammatically illustrated in Fig. 1.Camera system 10 wraps
Thermal imaging camera is included, the camera system is directed to substantially flat surface in other words in plane 12.In order to determine path point,
Programmer is advanced with his finger 11 in plane 12, and makes the 12 local heating of plane herein.Thus caused hot trace 13
Detected by sensible heat camera, the corresponding path for being used to move executor is next derived from detected hot trace
Point.In order to by means of the hot trace 13 of sensible heat camera calibration, when it is determined that thermal imaging camera does not detect programmer itself, programmer
Trigger button (not shown) can for example be pressed.Alternatively or additionally, programmer can be sent out phonetic order, and the voice refers to
Order is received by microphone (not shown) and triggers the detection to hot trace 13., can be with order to the hot trace 13 of accurately automatic identification
Such as compare the image before and after finger 11 touches plane 12 by means of thermal imaging camera.
View in Fig. 2 is substantially corresponding to Fig. 1, but has two objects 23 and 24 in plane 22.In contrast to Fig. 1's
View, not should determine that the path based on hot trace now, but should based on two single focuses 25,26 come determine only two it is single
Path point.Therefore, programmer can for example press switching push button (not shown), can be on " detection road by the switching push button
Switched between radial line " pattern and " detecting single path point " pattern.Alternatively, this switching can also be by can be by wheat
Phonetic order that gram wind (not shown) receives controls.
In addition to thermal imaging camera, camera case 20 is additional to include 3D cameras.Programmer is touched respectively with its finger 21
A point on object 23,24, the object is undergone point-by-point temperature and rise.It is elevated that thermal imaging camera detects the part
Temperature focus 25,26 in other words.3D cameras detect 3-D view for this, and the 3-D view permits a determination that what is touched
Three-dimensional position of the point on object 23,24.Determined subsequently, based on by the data detected by thermal imaging camera and 3D cameras
Two path points.
The method 30 for determining path point is shown in Fig. 3.In step 31, the Temperature Distribution of surrounding environment is detected.
Then in the step 32, path point is determined in the case of the Temperature Distribution detected by use.
Another method 40 for determining path point is shown in Fig. 4.In step 41, the first of surrounding environment is detected
Temperature Distribution.Then in step 42, user touches surrounding environment to produce the heat in the surrounding environment by using its finger
Trace.In following step 43, the second temperature distribution of surrounding environment is detected.What those skilled in the art should be appreciated that herein
It is：Due to contact of the user with surrounding environment, second temperature distribution can be differently configured from the first Temperature Distribution.In step 44,
Compared with first Temperature Distribution is distributed with second temperature, then on this basis, corresponding path is determined in step 45
Point.
Another method 50 for determining path point is shown in Fig. 5.In step 51, by thermal imaging camera from week
Collarette shoots thermal image in border.In step 52, hot trace is identified in the thermal image.Concurrently shot with this in step 53 same
The 3-D view of one surrounding environment, and in step 54, the three of the surrounding environment is determined based on detected 3-D view
Tie up structure distribution.Then in step 55, identified three-dimensional knot in the hot trace and step 54 that are identified in using step 52
Structure determines path point in the case of being distributed.
Reference numerals list
10,20 camera systems
11,21 fingers
12,22 planes
13 hot traces
23,24 objects
25,26 focuses
Claims (15)
1. a kind of method for determining the path point for robot program, methods described include：
The first Temperature Distribution of surrounding environment (12,22,23,24) is detected, and
The path point is determined in the case of the first Temperature Distribution detected by use.
2. according to the method for claim 1, wherein, enter by means of temperature measuring equipment and preferably by means of thermal imaging camera
The detection of the row Temperature Distribution.
3. method according to claim 1 or 2, in addition to：
Temperature change (13,25,26) is produced in the surrounding environment (12,22,23,24), wherein, the temperature change (13,
25,26) generation preferably touches the surrounding environment (12,22,23,24) to carry out, and wherein by user with finger,
Determine the path point preferably include to determine in the surrounding environment (12,22,23,24) caused temperature change (13,
25,26).
4. according to the method for claim 3, wherein, the generation of the temperature change includes producing diagram form temperature change,
Such as cross, circle or arrow, and wherein, the determination of the path point, which is preferably included in, considers the first detected temperature point
The robot motion limited in advance is allocated in the case of cloth.
5. according to any method of the preceding claims, in addition to：
The second temperature distribution of the surrounding environment (12,22,23,24) is detected, and wherein, is using detected second
The determination of the path point is carried out in the case of Temperature Distribution, wherein, the determination of the path point is preferably included described in comparison
One Temperature Distribution and second temperature distribution.
6. according to any method of the preceding claims, in addition to：
The 3-D view of the surrounding environment (12,22,23,24) is detected, and
The three-dimensional structure distribution of the surrounding environment (12,22,23,24) is determined based on detected 3-D view,
Wherein, institute is carried out in the case where being distributed using the three-dimensional structure being determined of the surrounding environment (12,22,23,24)
State the determination of path point.
7. according to the method for claim 6, wherein, the detection to three-dimensional structure distribution is carried out by means of 3D cameras.
8. according to any method of the preceding claims, in addition to：
Identified path point is supplied to executor controller, and preferably also included：
Executor is controlled according to identified path point, wherein, carry out the control by means of the executor controller.
9. according to any method of the preceding claims, in addition to：
Phonetic order is received, and wherein, carries out the path point in the case of the phonetic order received by use in addition
Determination, wherein, the reception of the phonetic order is carried out preferably by means of microphone.
10. according to any method of the preceding claims, wherein, the surrounding environment (12,22,23,24) has
Substantially flat surface (12,22), and wherein, the detection of the Temperature Distribution includes detecting the substantially flat table
The Temperature Distribution in face (12,22).
11. a kind of system for determining the path point for robot program, the system have：
Temperature measuring equipment, the temperature measuring equipment are arranged for detecting the first temperature of surrounding environment (12,22,23,24)
Degree distribution；
And controller, the controller are arranged for using by means of first detected by the temperature measuring equipment
The path point is determined in the case of Temperature Distribution.
12. system according to claim 11, wherein, the temperature measuring equipment includes thermal imaging camera.
13. the system according to claim 11 or 12, the system also has camera, and the camera is arranged for detecting institute
The 3-D view of surrounding environment (12,22,23,24) is stated, and wherein, the controller is also arranged for using being detected
To 3-D view in the case of determine the path point, wherein, the camera preferably includes 3D cameras.
14. the system according to any one of claim 11 to 13, the system also has microphone, the microphone quilt
It is provided for receiving phonetic order, and wherein, the controller is also arranged for using received phonetic order
In the case of determine the path point.
15. method according to any one of claim 1 to 10 or according to any one of claim 11 to 14
System, wherein, the Temperature Distribution includes the caused temperature change in the surrounding environment (12,22,23,24) by user
Change (13,25,26), wherein, caused temperature change (13,25,26) is preferred in the surrounding environment (12,22,23,24)
Including the hot trace (13) being made up of multiple focuses (25,26).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102015209900.8A DE102015209900A1 (en) | 2015-05-29 | 2015-05-29 | Method for determining a path point |
| DE102015209900.8 | 2015-05-29 | ||
| PCT/EP2016/061667 WO2016193058A1 (en) | 2015-05-29 | 2016-05-24 | Method for determining a path point |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107666988A true CN107666988A (en) | 2018-02-06 |
Family
ID=56084025
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680031527.8A Pending CN107666988A (en) | 2015-05-29 | 2016-05-24 | Method for determining path point |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP3302895A1 (en) |
| CN (1) | CN107666988A (en) |
| DE (1) | DE102015209900A1 (en) |
| WO (1) | WO2016193058A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110385694A (en) * | 2018-04-18 | 2019-10-29 | 发那科株式会社 | Action teaching device, robot system and the robot controller of robot |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018189417A1 (en) * | 2017-04-11 | 2018-10-18 | University Of Helsinki | Method and system for determining human-object interaction |
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- 2015-05-29 DE DE102015209900.8A patent/DE102015209900A1/en not_active Ceased
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110385694A (en) * | 2018-04-18 | 2019-10-29 | 发那科株式会社 | Action teaching device, robot system and the robot controller of robot |
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| EP3302895A1 (en) | 2018-04-11 |
| DE102015209900A1 (en) | 2016-12-01 |
| WO2016193058A1 (en) | 2016-12-08 |
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