JP2018202569A - ワークの動画に基づいて教示点を設定するロボットの教示装置 - Google Patents
ワークの動画に基づいて教示点を設定するロボットの教示装置 Download PDFInfo
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- JP2018202569A JP2018202569A JP2017112707A JP2017112707A JP2018202569A JP 2018202569 A JP2018202569 A JP 2018202569A JP 2017112707 A JP2017112707 A JP 2017112707A JP 2017112707 A JP2017112707 A JP 2017112707A JP 2018202569 A JP2018202569 A JP 2018202569A
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- Prior art keywords
- teaching
- workpiece
- robot
- moving image
- door
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- 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
-
- 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
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming 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
- B25J9/1694—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
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- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
-
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36494—Record position and inclination of tool, wrist
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20081—Training; Learning
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/02—Arm motion controller
- Y10S901/03—Teaching system
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
- Y10S901/31—Gripping jaw
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/46—Sensing device
- Y10S901/47—Optical
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
Description
2,4 ハンド
6 箱
8 車体
9 ドア
10 教示装置
11 動画生成部
12 位置検出部
13 教示点設定部
16 表示部
21 3次元モデル
31,32,34,35 画像
41 把持領域
42,42a,42b,42c,42d 把持位置
71,72 位置
Claims (3)
- ワークを把持して動かすロボットの教示点を設定する教示装置であって、
ワークが動く3次元の動画を作成する動画生成部と、
動画に表示されるワークにおいて、ロボットに取り付けられるハンドが把持する把持位置を検出する位置検出部と、
教示点を設定する教示点設定部とを備え、
ワークにおける前記把持位置と教示点との関係が予め定められており、
前記位置検出部は、前記動画生成部がワークの動画を動かした時に、ワークにおける前記把持位置を検出し、
前記教示点設定部は、前記把持位置に基づいて教示点を設定する、ロボットの教示装置。 - 前記位置検出部は、ワークの動画に基づいて予め定められた間隔ごとに前記把持位置を検出する、請求項1に記載のロボットの教示装置。
- ワークの動作が予め定められており、
前記動画生成部は、作業者にて設定された動作が開始するワークの位置および動作が終了するワークの位置に基づいてワークの動画を作成する、請求項1または2に記載のロボットの教示装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017112707A JP6457587B2 (ja) | 2017-06-07 | 2017-06-07 | ワークの動画に基づいて教示点を設定するロボットの教示装置 |
DE102018004326.7A DE102018004326B4 (de) | 2017-06-07 | 2018-05-30 | Robotereinlernvorrichtung zum Einstellen von Einlernpunkten basierend auf einem Bewegtbild eines Werkstücks |
US15/993,779 US10532460B2 (en) | 2017-06-07 | 2018-05-31 | Robot teaching device that sets teaching point based on motion image of workpiece |
CN201810577061.2A CN108994819B (zh) | 2017-06-07 | 2018-06-01 | 根据工件的动画设定示教点的机器人的示教装置 |
Applications Claiming Priority (1)
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JP2017112707A JP6457587B2 (ja) | 2017-06-07 | 2017-06-07 | ワークの動画に基づいて教示点を設定するロボットの教示装置 |
Publications (2)
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JP2018202569A true JP2018202569A (ja) | 2018-12-27 |
JP6457587B2 JP6457587B2 (ja) | 2019-01-23 |
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JP2017112707A Active JP6457587B2 (ja) | 2017-06-07 | 2017-06-07 | ワークの動画に基づいて教示点を設定するロボットの教示装置 |
Country Status (4)
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US (1) | US10532460B2 (ja) |
JP (1) | JP6457587B2 (ja) |
CN (1) | CN108994819B (ja) |
DE (1) | DE102018004326B4 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2022224449A1 (ja) * | 2021-04-23 | 2022-10-27 | 日本電気株式会社 | 制御装置、制御方法及び記憶媒体 |
Families Citing this family (1)
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DE112018007729B4 (de) * | 2018-06-14 | 2022-09-08 | Yamaha Hatsudoki Kabushiki Kaisha | Maschinelle Lernvorrichtung und mit dieser ausgestattetes Robotersystem |
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2017
- 2017-06-07 JP JP2017112707A patent/JP6457587B2/ja active Active
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2018
- 2018-05-30 DE DE102018004326.7A patent/DE102018004326B4/de active Active
- 2018-05-31 US US15/993,779 patent/US10532460B2/en active Active
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Also Published As
Publication number | Publication date |
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DE102018004326B4 (de) | 2020-10-01 |
DE102018004326A1 (de) | 2018-12-13 |
US10532460B2 (en) | 2020-01-14 |
JP6457587B2 (ja) | 2019-01-23 |
CN108994819B (zh) | 2019-11-15 |
CN108994819A (zh) | 2018-12-14 |
US20180354124A1 (en) | 2018-12-13 |
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