WO1997010931A1 - Pendant d'apprentissage - Google Patents
Pendant d'apprentissage Download PDFInfo
- Publication number
- WO1997010931A1 WO1997010931A1 PCT/JP1996/002688 JP9602688W WO9710931A1 WO 1997010931 A1 WO1997010931 A1 WO 1997010931A1 JP 9602688 W JP9602688 W JP 9602688W WO 9710931 A1 WO9710931 A1 WO 9710931A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- robot
- teaching
- data
- operation panel
- display
- Prior art date
Links
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
- B25J9/1656—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
-
- 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
- G05B2219/36162—Pendant control box
-
- 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
- G05B2219/36168—Touchscreen
-
- 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
- G05B2219/39438—Direct programming at the console
-
- 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
- G05B2219/39443—Portable, adapted to handpalm, with joystick, function keys, display
-
- 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
- G05B2219/39444—Display of position, of shape of robot and tool
-
- 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
- G05B2219/39446—Display of manipulator and workpiece and jog directions
-
- 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
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40522—Display of workpiece, workspace, locus of robot tip in different planes, xy xz yz
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H2300/00—Orthogonal indexing scheme relating to electric switches, relays, selectors or emergency protective devices covered by H01H
- H01H2300/026—Application dead man switch: power must be interrupted on release of operating member
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H9/00—Details of switching devices, not covered by groups H01H1/00 - H01H7/00
- H01H9/02—Bases, casings, or covers
- H01H9/0214—Hand-held casings
Definitions
- the present invention relates to a robot teaching operation panel for teaching a robot and operating the robot.
- a robot teaching operation panel As a robot teaching operation panel, a teaching operation panel and a character-based display device were provided. Using these teaching consoles, the robot was taught or operated while observing the movement of the robot arm.
- character-based display devices can only display alphabets, numbers, kanji, and Japanese characters. Cannot be displayed on the screen, making it difficult for the operator to intuitively recognize. Normally, we would like to display the spatial position and movement of the mouth pot arm, but this can only be expressed numerically. Therefore, operating the robot using the robot teaching operation panel has not been easy for the operator.
- the operation panel includes at least one of a data storage unit for temporarily storing a robot program from the robot control device and a unit for reading the robot program in the robot control device one by one.
- Display data generating means for generating display data from a robot program, a display device for graphically displaying the display data generated by the display data generating means, and a device for operating the mouth port Operation panel and.
- the robot teaching operation panel obtains the three-dimensional data of the robot program by projecting the three-dimensional data from a specific line of sight in order to two-dimensionally display the three-dimensional data on the screen of the display device. It has a means to convert it into two-dimensional data.
- These display data include the position data of the teaching point, the coordinate axis data of the tool coordinate system of the robot tool center point (TCP) at each teaching point, and the current position data of the robot. It is.
- a touch panel is provided on the display screen of the display device, and one of the teaching points displayed on the screen of the display device is designated using the touch panel. Then, an operation command for moving the robot to the designated teaching point position is generated by the operation command generating means.
- the robot teaching operation panel includes a moving plane designating means for designating a plane on which the teaching point moves, and If one of the teaching points displayed on the screen is specified using the evening touch panel and its moving direction is specified, the teaching point and its moving direction are specified.
- An operation command generating means for, in response, moving the robot to move on the plane specified by the moving plane specifying means including the specified teaching point.
- a graphic display function is provided to display three-dimensional display data such as three-dimensional movements of robots and teaching points. Since the two-dimensional display is made on the display screen in a form that is easy for the operator to see, the robot operation can be visually recognized easily, and easy and accurate teaching operation can be performed. Will be possible.
- FIG. 1 is a block diagram showing the elements constituting a robot teaching operation panel according to the present invention.
- FIG. 2 shows a state in which a robot teaching operation panel according to one embodiment of the present invention is connected to a robot control device to teach a mouth port or operate the robot. It is a diagram for schematically explaining,
- Fig. 3 is a diagram showing details of the external appearance of the robot teaching operation panel schematically shown in Fig. 2.
- FIG. 4 is a diagram showing a first display example displayed on the graphic display device of the robot teaching pendant shown in FIG. 3, and FIG. 5 is a diagram showing a second display example similarly.
- Fig. 6 is also a diagram showing a third display example.
- Fig. 7 shows one of the teaching points of the robot program displayed on the graphical display of the robot teaching console shown in Fig. 3 on the display screen of the robot teaching device and moves it on the display screen.
- FIG. 8 is a diagram showing a state in which the designated point is moved using the pop-up menu displayed on the display screen of the robot teaching operation panel of FIG. 3 on the graphic display device. Yes, and
- FIG. 9 is a diagram showing an example of a hardware configuration for implementing the present invention.
- the robot program 1 a for operating the robot is temporarily stored in the data storage means 1 from the robot controller.
- This data storage means 1 stores, in addition to the robot program 1a read from the robot control device, shape data representing various shapes such as the shape of a work member, the shape of a robot, and the shape of peripheral devices. .
- the display data generation means 4 generates, for example, display data representing the teaching point or the route based on the robot program 1a, outputs the generated display data to the display device 6, and outputs the teaching data. Is displayed on the display device 6 graphically. Further, the display data generating means 4 displays the robot shape and the like based on the shape data 1b stored in the data storage means 1. Displayed in place 6.
- the robot program 1a may not be temporarily stored in the data storage unit 1, but may be read from the robot control device one by one remotely. In this case, the block denoted by reference numeral 1 serves as a program reading means.
- the robot is taught or operated by the operation panel 2.
- the operation panel 2 is equipped with operation switches such as an emergency stop button and a jog button for manually operating the robot.
- the operation of the operation switch on the operation panel 2 is input to the operation command generation means 5, becomes an operation command, is output to the mouth-box control device, and is also input to the display data generation means 4.
- the display data is converted into display data representing the operating state of the robot and displayed on the display device 6.
- the touch panel 3 is mounted on the display screen of the display device 6.
- the touch panel 3 is used to select or indicate a menu button displayed on the display screen or a displayed teaching point by touching with a fingertip by an operator. You.
- the evening touch panel 3 is input to the display data generating means 4 to be used as an operation input means such as an emergency stop button, a jog button other than a deadman switch, and the like. It is input to the operation command generation means 5 to operate the robot.
- the robot teaching operation panel 10 includes an operation switch 30 used for manually operating the robot and teaching the robot, and a graphic display device 4 capable of displaying a graphic. And a touch panel 4 O a mounted on the display screen of the graphic display device 40.
- the mouth box teaching operation panel 10 is connected to a robot mechanism 70 installed adjacent to the robot mechanism 70 via an operation box 50 installed outside the safety box 80. Connected to controller 60.
- the operation box 50 is a remote control that can be operated outside the safety box 80 by disconnecting the operation part of the robot controller 60, for example, the power switch and emergency stop switch. Part.
- the operator carries the robot teaching operation panel 10 and watches the movement of the arm of the robot mechanism 70 while passing through the evening.
- the robot 40a and the operation switch 30 can be operated to perform the robot teaching operation and the robot can be manually operated c
- the robot schematically shown in Fig. 2 Figure 3 shows the details of the teaching operation panel 10.
- the robot teaching operation panel 10 includes a graphic display device 40, and an operation panel arranged on the right side thereof includes various operation switches.
- an emergency stop button 31 teaching switch valid switch 32, jog button 33, hold key (HOLD) 34, forward and reverse keys 35 (key FWD and BWD) are provided.
- a deadman switch is installed on the back of the port teaching operation panel 10. Have been killed.
- Emergency stop button 3'1 is used to stop the robot in an emergency.Teaching operation panel effective switch 32 sends the jog and performs robot teaching operation when creating a program and executing a test. This is for enabling the board 10 and disabling the rest for safety.
- the jog buttons 33 are used to manually operate the robot, and include keys for instructing feed in the X-axis, Y-axis, and Z-axis directions and rotation around each axis.
- the hold key 34 interrupts the execution of the program and temporarily stops the robot.
- the forward / backward key 35 starts the program and starts the robot.
- the graphic display device 40 is provided with a touch panel 40a on its display screen, and the user touches an arbitrary location on the screen with a fingertip to indicate the location.
- the position information on the screen is input to the robot teaching console 10.
- On the display screen of the graphic display device 40 some keys are displayed at the right end and the bottom end. These keys are not hard keys but are always displayed at these positions on the screen. This is a main menu, and by touching one of them with a finger or the like, the menu function is selected.
- USER is user
- POS posture
- EDIT editing
- GPX graphic.
- TP torch posture
- CA interference avoidance
- PALTOOL is a note tool
- OPPNL is an operation panel
- MENU MENU. Is menu, AUX is auxiliary, PAUSE is paused Is the key.
- FIG. 4 An example displayed on the graphic display device 40 of the robot teaching operation panel 10 shown in FIG. 3 will be described with reference to FIGS. 4, 5, and 6.
- FIG. 4 An example displayed on the graphic display device 40 of the robot teaching operation panel 10 shown in FIG. 3 will be described with reference to FIGS. 4, 5, and 6.
- the teaching points 41 are displayed on the display screen of the graphic display device 40 based on the three-dimensional data of the robot program knocked off from the mouth pot control device. Is displayed.
- the display of the three-dimensional data is performed by using the three-dimensional-two-dimensional conversion data obtained by projecting the three-dimensional data on the two-dimensional plane from the designated viewpoint.
- the teaching point 41 is indicated here by the symbol "X”.
- a route 42 passing through these teaching points 41 is displayed by a broken line, thereby enabling a three-dimensional display from a certain viewing direction.
- the current position of the robot can also be displayed.
- the current tool center coordinates (TCP coordinates) 43 of the robot are indicated by the symbol “ ⁇ ”.
- the teaching point 41 of the robot program can be displayed in a three-dimensional graphic, and if necessary, the current position of the robot, that is, the current TCP of the mouth robot. Coordinates 43 can be displayed simultaneously.
- DS is a shape display
- DC is a coordinate system display
- DP is a teaching point display
- OVL is superimposed
- UP is up
- FRONT is up.
- L is left
- R is right
- BACK is back
- VIEW viewpoint
- DIR is gaze
- ZOOM magnification.
- coordinate axes 44 are displayed at each of the teaching points 41 of the robot program displayed on the display screen of the graphic display device 40.
- the coordinate axis 44 is represented by three lines of the X axis, the Y axis, and the Z axis, and the coordinate axis 44 of the robot's TCP tool coordinate system at each teaching point 41 is displayed. Since the coordinate axes 44 are displayed at each teaching point, the robot posture at each teaching point 41 can be known.
- the shape of the robot near the TCP is graphically displayed on the display screen of the graphic display device 40 together with the teaching point 41 of the robot program.
- the display screen of the graphic display device 40 shows the robot arm 45a, the torch holder 45b, and the torch 45c in addition to the teaching point 41 of the robot program. Is displayed. Therefore, the operator can recognize the teaching point 41 and the posture of the torch 45c at the teaching point 41 in a standing manner.
- the shapes of peripheral devices and work members may be displayed on the display screen.
- the coordinate axes of the system can be displayed at the same time.
- the robot is manually When the jog button is pressed to move with, before the robot actually moves, arrows 46 indicating the direction of the operation of the mouth bot corresponding to the pressed jog button are displayed. Is done.
- the operation direction of the robot corresponding to the pressed jog button is changed. Arrows 46 can be displayed. Thus, it is possible to check how the robot operates on the graphic display device 40 before the robot actually operates.
- the evening touch panel is displayed on the screen.
- the teaching point 41a is recognized from the display coordinates of.
- the pop-up menu 4 7 on “Teach point operation” appears. Appears on the screen.
- "MOVET ⁇ " is specified from the pop-up menu 47, that is, if the part displaying "Move” in the pop-up menu 47 is touched,
- TCP position can be moved to the designated teaching point 41a.
- the current position of the robot is displayed on the display screen of the graphic display device 40 with a symbol “ ⁇ ” indicated by reference numeral 43a
- the current position is determined by a finger. If the instruction of “MOVETO” is given as shown in Fig. 8 after specifying the teaching point 41a, the robot is actually moved to the teaching point 41a, and at the same time, The “ ⁇ ” displayed on the screen also moves toward the teaching point 41 a as shown by the dotted line with the arrow in FIG.
- one of the teaching points 41 a among the teaching points displayed on the graphic display device 40 is designated by touching with a finger, and the finger is touched. If the finger is moved in the direction of arrow 48 without releasing from the touch panel, the teaching point 41a moves to the destination of the finger following the movement.
- it is necessary to specify in advance on which plane the teaching point moves For example, specify in advance whether it is a plane perpendicular to the line of sight or a plane by specifying three points. After defining the teaching point movement plane first, and then specifying the teaching point and moving the teaching point on the screen, the teaching point will be defined in advance including this teaching point. On the plane Will be moved. Further, in response to the movement of the teaching point, the robot can be moved in the plane defined in advance so as to follow the movement of the teaching point.
- the robot teaching operation panel 10 includes a processor (CPU) 11, a read-only memory (ROM) 12, a main memory (RAM) 13, and a hard disk.
- Device 14 PCMCIA Persona 1 provided for mounting the IC card 15 a PCMCIA socket 15 of the Computer Moinory Card International As sociation standard, and liquid crystal display (LCD) interface 1 6, serial input / output (10) interface for connecting to the robot controller 60 via the operation panel 50, the evening touch panel interface 17 and the operation box 50 18 and a switchboard interface 19, and these components are interconnected by a bus 20 respectively.
- PCMCIA Persona 1 provided for mounting the IC card 15 a PCMCIA socket 15 of the Computer Moinory Card International As sociation standard
- LCD liquid crystal display
- serial input / output (10) interface for connecting to the robot controller 60 via the operation panel 50, the evening touch panel interface 17 and the operation box 50 18 and a switchboard interface 19, and these components are interconnected by a bus 20 respectively.
- the robot teaching operation panel 10 further includes a liquid crystal display (LCD) 40 connected to a liquid crystal display (LCD) interface 16 and a display of the liquid crystal display 40. Evening touch panel, attached to the face and connected to the evening touch panel interface 17. A switch 40a and an operation switch 30 connected to the switch interface 19.
- LCD liquid crystal display
- LCD liquid crystal display
- the processor 11 controls the robot teaching operation panel 10 as a whole.
- Robot is in read-only memory 1 2 Stores programs required when the teaching operation panel 10 starts up.
- the main memory 13 contains programs required for the teaching operation of the mouth pot and data required for screen display.
- the hard disk device 14 stores an operating system, an application program for instructing execution of the robot program, and editing the robot program, and the like.
- a robot program is stored in the IC card 15a, and the robot program is robotized by attaching the IC card 15a to the PCMCIA socket 15. It can be taken into the teaching operation panel 10 and can be loaded to the robot controller via the serial input / output interface 18.
- the emergency stop button and the robot teaching operation panel are enabled to enable jogging. Teach operation panel effective switch, jog button for manually operating the robot, hold key for interrupting program execution and suspending the robot, mouth button for starting the program
- the robot is pushed and released, or the robot is emergency stopped by being pressed with a certain force or more. There is a deadman switch to multiply by.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US08/836,752 US5937143A (en) | 1995-09-18 | 1996-09-18 | Teaching pendant for a robot |
EP96931245A EP0792726B1 (en) | 1995-09-18 | 1996-09-18 | Teach pendant |
DE69603009T DE69603009T2 (de) | 1995-09-18 | 1996-09-18 | Lernpendant |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP23846995A JP4014662B2 (ja) | 1995-09-18 | 1995-09-18 | ロボット教示操作盤 |
JP7/238469 | 1995-09-18 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1997010931A1 true WO1997010931A1 (fr) | 1997-03-27 |
Family
ID=17030705
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1996/002688 WO1997010931A1 (fr) | 1995-09-18 | 1996-09-18 | Pendant d'apprentissage |
Country Status (5)
Country | Link |
---|---|
US (1) | US5937143A (ja) |
EP (1) | EP0792726B1 (ja) |
JP (1) | JP4014662B2 (ja) |
DE (1) | DE69603009T2 (ja) |
WO (1) | WO1997010931A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6560513B2 (en) * | 1999-11-19 | 2003-05-06 | Fanuc Robotics North America | Robotic system with teach pendant |
Families Citing this family (138)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE69618606T2 (de) * | 1995-09-19 | 2002-09-12 | Yaskawa Denki Kitakyushu Kk | Prozessor für robotersprache |
JP2007242054A (ja) * | 1995-09-19 | 2007-09-20 | Yaskawa Electric Corp | ロボット言語処理装置 |
JPH09201785A (ja) * | 1996-01-30 | 1997-08-05 | Shimadzu Corp | マニピュレータ |
KR19980053600A (ko) * | 1996-12-27 | 1998-09-25 | 이종수 | 로봇의 안전교시 방법 |
KR19980054432A (ko) * | 1996-12-27 | 1998-09-25 | 이종수 | 월드좌표계에 대한 산업용 로봇좌표계의 정의 장치 및 그 방법 |
JPH1177569A (ja) * | 1997-09-10 | 1999-03-23 | Honda Motor Co Ltd | オフラインティーチング装置 |
JPH11249725A (ja) * | 1998-02-26 | 1999-09-17 | Fanuc Ltd | ロボット制御装置 |
DE19923392C1 (de) * | 1999-05-21 | 2001-02-01 | Ackermann Albert Gmbh Co | Hand-Bediengerät für den Pflegebereich |
US8412377B2 (en) | 2000-01-24 | 2013-04-02 | Irobot Corporation | Obstacle following sensor scheme for a mobile robot |
US8788092B2 (en) | 2000-01-24 | 2014-07-22 | Irobot Corporation | Obstacle following sensor scheme for a mobile robot |
US6956348B2 (en) | 2004-01-28 | 2005-10-18 | Irobot Corporation | Debris sensor for cleaning apparatus |
JP2002127060A (ja) * | 2000-10-23 | 2002-05-08 | Matsushita Electric Ind Co Ltd | ロボット装置 |
US7571511B2 (en) | 2002-01-03 | 2009-08-11 | Irobot Corporation | Autonomous floor-cleaning robot |
US6690134B1 (en) | 2001-01-24 | 2004-02-10 | Irobot Corporation | Method and system for robot localization and confinement |
JP3673725B2 (ja) * | 2001-04-05 | 2005-07-20 | ファナック株式会社 | ロボット用情報処理システム |
US7429843B2 (en) | 2001-06-12 | 2008-09-30 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
US8396592B2 (en) | 2001-06-12 | 2013-03-12 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
AT412176B (de) * | 2001-06-26 | 2004-10-25 | Keba Ag | Tragbare vorrichtung zumindest zur visualisierung von prozessdaten einer maschine, eines roboters oder eines technischen prozesses |
US9128486B2 (en) | 2002-01-24 | 2015-09-08 | Irobot Corporation | Navigational control system for a robotic device |
US6708956B1 (en) * | 2002-04-03 | 2004-03-23 | Genesis Systems Group, Ltd. | Break away barrier and method for using same |
FR2840420B1 (fr) * | 2002-05-31 | 2005-05-27 | Sepro Robotique | Dispositif et produit-programme de commande, notamment de manipulateurs ou de robots |
US8428778B2 (en) | 2002-09-13 | 2013-04-23 | Irobot Corporation | Navigational control system for a robotic device |
ITTO20020863A1 (it) * | 2002-10-04 | 2004-04-05 | Comau Spa | Terminale portatile di comando, programmazione e/ o |
ITTO20020862A1 (it) * | 2002-10-04 | 2004-04-05 | Comau Spa | Sistema di programmazione per robot o simili apparati |
JP4314027B2 (ja) * | 2002-12-27 | 2009-08-12 | Idec株式会社 | 教示ペンダントのイネーブル装置 |
JP3950805B2 (ja) * | 2003-02-27 | 2007-08-01 | ファナック株式会社 | 教示位置修正装置 |
JP3708083B2 (ja) | 2003-02-28 | 2005-10-19 | ファナック株式会社 | ロボット教示装置 |
JP3819883B2 (ja) * | 2003-08-27 | 2006-09-13 | ファナック株式会社 | ロボットプログラム位置修正装置 |
EP1510893B1 (de) * | 2003-09-01 | 2014-11-05 | TRUMPF Werkzeugmaschinen GmbH + Co. KG | Verfahren und Vorrichtung zum Festlegen der Bewegungsbahn eines Handling-systems |
DE10361018C9 (de) * | 2003-12-23 | 2021-03-04 | QUISS Qualitäts-Inspektionssysteme und Service GmbH | Verfahren zum Erkennen einer auf einem Substrat aufzubringenden Struktur mit mehreren Kameras sowie eine Vorrichtung hierfür |
US7332890B2 (en) | 2004-01-21 | 2008-02-19 | Irobot Corporation | Autonomous robot auto-docking and energy management systems and methods |
JP2007530978A (ja) | 2004-03-29 | 2007-11-01 | エヴォリューション ロボティクス インコーポレイテッド | 反射光源を使用する位置推定方法および装置 |
JP2005288581A (ja) * | 2004-03-31 | 2005-10-20 | Fanuc Ltd | 可搬式教示操作盤 |
JP2008508572A (ja) | 2004-06-24 | 2008-03-21 | アイロボット コーポレーション | 携帯ロボットのプログラミングおよび診断ツール |
US8972052B2 (en) | 2004-07-07 | 2015-03-03 | Irobot Corporation | Celestial navigation system for an autonomous vehicle |
US7706917B1 (en) | 2004-07-07 | 2010-04-27 | Irobot Corporation | Celestial navigation system for an autonomous robot |
US8392021B2 (en) | 2005-02-18 | 2013-03-05 | Irobot Corporation | Autonomous surface cleaning robot for wet cleaning |
US8670866B2 (en) | 2005-02-18 | 2014-03-11 | Irobot Corporation | Autonomous surface cleaning robot for wet and dry cleaning |
US7620476B2 (en) | 2005-02-18 | 2009-11-17 | Irobot Corporation | Autonomous surface cleaning robot for dry cleaning |
US8930023B2 (en) | 2009-11-06 | 2015-01-06 | Irobot Corporation | Localization by learning of wave-signal distributions |
JP4700389B2 (ja) * | 2005-03-31 | 2011-06-15 | 株式会社ユーシン精機 | 操作端末装置の画面表示方法 |
DE102005023919A1 (de) * | 2005-05-24 | 2006-11-30 | Krauss-Maffei Kunststofftechnik Gmbh | Verfahren zur Ablaufprogrammierung eines Spritzgießzyklus einer Spritzgießmaschine |
JP2007030060A (ja) * | 2005-07-22 | 2007-02-08 | Honda Motor Co Ltd | 移動ロボットの制御装置 |
US8984636B2 (en) | 2005-07-29 | 2015-03-17 | Bit9, Inc. | Content extractor and analysis system |
US8272058B2 (en) | 2005-07-29 | 2012-09-18 | Bit 9, Inc. | Centralized timed analysis in a network security system |
US7895651B2 (en) | 2005-07-29 | 2011-02-22 | Bit 9, Inc. | Content tracking in a network security system |
CN101278244B (zh) * | 2005-10-06 | 2012-05-30 | Abb股份有限公司 | 用于工业机器人的控制系统和示教盒 |
EP2533120B1 (en) | 2005-12-02 | 2019-01-16 | iRobot Corporation | Robot system |
KR101300493B1 (ko) | 2005-12-02 | 2013-09-02 | 아이로보트 코퍼레이션 | 커버리지 로봇 이동성 |
ES2623920T3 (es) | 2005-12-02 | 2017-07-12 | Irobot Corporation | Sistema de robot. |
US8364313B2 (en) * | 2006-02-14 | 2013-01-29 | Kabushiki Kaisha Yaskawa Denki | Robot system |
JP4347313B2 (ja) * | 2006-02-23 | 2009-10-21 | ファナック株式会社 | ロボット教示操作盤 |
EP3530420B1 (en) * | 2006-03-03 | 2023-09-06 | Universal Robots A/S | Joint for a robot |
US8868237B2 (en) | 2006-03-17 | 2014-10-21 | Irobot Corporation | Robot confinement |
DE102006022483A1 (de) * | 2006-05-13 | 2007-11-29 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zum Anzeigen einer Roboterbahn zur Unterstützung einer Ortsänderung eines Stützpunktes |
ATE523131T1 (de) | 2006-05-19 | 2011-09-15 | Irobot Corp | Müllentfernung aus reinigungsrobotern |
US8417383B2 (en) | 2006-05-31 | 2013-04-09 | Irobot Corporation | Detecting robot stasis |
US7801644B2 (en) * | 2006-07-05 | 2010-09-21 | Battelle Energy Alliance, Llc | Generic robot architecture |
US8271132B2 (en) * | 2008-03-13 | 2012-09-18 | Battelle Energy Alliance, Llc | System and method for seamless task-directed autonomy for robots |
US8965578B2 (en) | 2006-07-05 | 2015-02-24 | Battelle Energy Alliance, Llc | Real time explosive hazard information sensing, processing, and communication for autonomous operation |
US8073564B2 (en) * | 2006-07-05 | 2011-12-06 | Battelle Energy Alliance, Llc | Multi-robot control interface |
US8355818B2 (en) * | 2009-09-03 | 2013-01-15 | Battelle Energy Alliance, Llc | Robots, systems, and methods for hazard evaluation and visualization |
US7974738B2 (en) * | 2006-07-05 | 2011-07-05 | Battelle Energy Alliance, Llc | Robotics virtual rail system and method |
EP1906284A1 (en) * | 2006-09-28 | 2008-04-02 | Abb Ab | A control device for controlling an industrial robot |
KR20080029548A (ko) * | 2006-09-29 | 2008-04-03 | 삼성전자주식회사 | 실사기반 이동기기 제어 방법 및 장치 |
DE102006055330A1 (de) | 2006-11-23 | 2008-05-29 | Kraussmaffei Technologies Gmbh | Verfahren zur Ablaufprogrammierung eines Spritzgießzyklus einer Spritzgiessmaschine |
JP4271232B2 (ja) * | 2006-12-20 | 2009-06-03 | ファナック株式会社 | ロボットのオフラインプログラミングを実行するための装置、方法、プログラム及び記録媒体 |
KR101345528B1 (ko) | 2007-05-09 | 2013-12-27 | 아이로보트 코퍼레이션 | 자동 로봇 |
JP5016514B2 (ja) * | 2008-02-07 | 2012-09-05 | 川崎重工業株式会社 | 移動体の位置設定装置とその位置設定方法 |
EP2282873B1 (en) * | 2008-06-09 | 2013-04-10 | ABB Technology Ltd | A method and a system for facilitating calibration of an off-line programmed robot cell |
CN101604153B (zh) * | 2009-07-06 | 2011-06-29 | 三一重工股份有限公司 | 工程车辆臂架控制器、控制系统、工程车辆、及控制方法 |
JP5383468B2 (ja) * | 2009-12-21 | 2014-01-08 | 三菱電機株式会社 | ロボットの教示装置 |
CN105147193B (zh) | 2010-02-16 | 2018-06-12 | 艾罗伯特公司 | 真空吸尘器毛刷 |
US9906838B2 (en) | 2010-07-12 | 2018-02-27 | Time Warner Cable Enterprises Llc | Apparatus and methods for content delivery and message exchange across multiple content delivery networks |
DE102010047641B4 (de) * | 2010-10-06 | 2022-06-15 | Kuka Roboter Gmbh | Steuerung eines Roboters |
DE102010063222B4 (de) * | 2010-12-16 | 2019-02-14 | Robert Bosch Gmbh | Einrichtung und Verfahren zur Programmierung einer Handhabungsvorrichtung sowie Handhabungsvorrichtung |
JP5459255B2 (ja) * | 2011-04-08 | 2014-04-02 | 株式会社安川電機 | ロボットシステム |
US9415509B2 (en) | 2011-11-04 | 2016-08-16 | Fanuc America Corporation | Robot teach device with 3-D display |
JP5888591B2 (ja) * | 2011-11-30 | 2016-03-22 | 株式会社Ihi | 把持制御方法と把持制御実行装置 |
DE102012102749A1 (de) * | 2012-03-29 | 2013-10-02 | Reis Group Holding Gmbh & Co. Kg | Vorrichtung und Verfahren zur Bedienung eines Industrieroboters |
DE102012103032B3 (de) * | 2012-04-05 | 2013-07-04 | Reis Group Holding Gmbh & Co. Kg | Verfahren zur Bedienung eines Industrieroboters |
DE102012103030B3 (de) * | 2012-04-05 | 2013-05-23 | Reis Group Holding Gmbh & Co. Kg | Verfahren zur Bedienung eines Industrieroboters |
DE102012103031A1 (de) * | 2012-04-05 | 2013-10-10 | Reis Group Holding Gmbh & Co. Kg | Verfahren zur Bedienung eines Industrieroboters |
DE102012106448B4 (de) * | 2012-07-17 | 2016-03-31 | Reis Group Holding Gmbh & Co. Kg | Verfahren zur Bedienung eines Industrieroboters sowie sicheres Überwachungsgerät zur Durchführung des Verfahrens |
JP6449534B2 (ja) * | 2012-11-14 | 2019-01-09 | ファナック アメリカ コーポレイション | ロボットシミュレータ用の教示点プログラム選択方法 |
US9724584B1 (en) | 2012-11-15 | 2017-08-08 | Airborne Athletics, Inc. | Sports training machine |
JP5582427B2 (ja) * | 2012-12-18 | 2014-09-03 | 株式会社安川電機 | 教示データ作成装置、ロボットシステム、及び教示データ作成方法 |
JP5642304B2 (ja) * | 2013-02-15 | 2014-12-17 | 株式会社神戸製鋼所 | ロボットペンダント |
US9387589B2 (en) * | 2014-02-25 | 2016-07-12 | GM Global Technology Operations LLC | Visual debugging of robotic tasks |
JP6361213B2 (ja) * | 2014-03-26 | 2018-07-25 | セイコーエプソン株式会社 | ロボット制御装置、ロボット、ロボットシステム、教示方法、及びプログラム |
EP3889717A1 (en) | 2014-03-31 | 2021-10-06 | iRobot Corporation | Autonomous mobile robot |
US9841749B2 (en) * | 2014-04-01 | 2017-12-12 | Bot & Dolly, Llc | Runtime controller for robotic manufacturing system |
US9613308B2 (en) | 2014-04-03 | 2017-04-04 | Brain Corporation | Spoofing remote control apparatus and methods |
US9630317B2 (en) * | 2014-04-03 | 2017-04-25 | Brain Corporation | Learning apparatus and methods for control of robotic devices via spoofing |
EP3126936B1 (en) * | 2014-04-04 | 2019-09-04 | ABB Schweiz AG | Portable apparatus for controlling robot and method thereof |
US9278449B1 (en) | 2014-05-21 | 2016-03-08 | Bot & Dolly, Llc | Closed-loop control system for robotic operation |
US9555545B2 (en) | 2014-05-21 | 2017-01-31 | Bot & Dolly, Llc | Systems and methods for time-based parallel robotic operation |
DE102014213262A1 (de) * | 2014-07-08 | 2016-01-14 | Kuka Roboter Gmbh | Maschine und Verfahren zum Betreiben einer Maschine |
US9579790B2 (en) | 2014-09-17 | 2017-02-28 | Brain Corporation | Apparatus and methods for removal of learned behaviors in robots |
US9821470B2 (en) | 2014-09-17 | 2017-11-21 | Brain Corporation | Apparatus and methods for context determination using real time sensor data |
US9849588B2 (en) | 2014-09-17 | 2017-12-26 | Brain Corporation | Apparatus and methods for remotely controlling robotic devices |
US9860077B2 (en) | 2014-09-17 | 2018-01-02 | Brain Corporation | Home animation apparatus and methods |
US9510505B2 (en) | 2014-10-10 | 2016-12-06 | Irobot Corporation | Autonomous robot localization |
US9516806B2 (en) | 2014-10-10 | 2016-12-13 | Irobot Corporation | Robotic lawn mowing boundary determination |
US9420741B2 (en) | 2014-12-15 | 2016-08-23 | Irobot Corporation | Robot lawnmower mapping |
US9538702B2 (en) | 2014-12-22 | 2017-01-10 | Irobot Corporation | Robotic mowing of separated lawn areas |
JP6866566B2 (ja) * | 2015-03-19 | 2021-04-28 | 株式会社デンソーウェーブ | ロボット操作装置、及びロボット操作プログラム |
US10048851B2 (en) * | 2015-03-19 | 2018-08-14 | Denso Wave Incorporated | Apparatus for operating robots |
JP6631279B2 (ja) * | 2015-03-19 | 2020-01-15 | 株式会社デンソーウェーブ | ロボット操作装置、ロボット操作プログラム |
JP6679846B2 (ja) | 2015-06-02 | 2020-04-15 | セイコーエプソン株式会社 | 教示装置およびロボットシステム |
JP2016221653A (ja) * | 2015-06-03 | 2016-12-28 | セイコーエプソン株式会社 | ロボット制御装置およびロボットシステム |
US11115798B2 (en) | 2015-07-23 | 2021-09-07 | Irobot Corporation | Pairing a beacon with a mobile robot |
US10034421B2 (en) | 2015-07-24 | 2018-07-31 | Irobot Corporation | Controlling robotic lawnmowers |
WO2017033357A1 (ja) * | 2015-08-25 | 2017-03-02 | 川崎重工業株式会社 | ロボットシステム |
JP6710919B2 (ja) * | 2015-09-08 | 2020-06-17 | 株式会社デンソーウェーブ | ロボット操作装置 |
EP3369534B1 (en) * | 2015-10-30 | 2022-05-04 | Kabushiki Kaisha Yaskawa Denki | Robot teaching device, computer program, and robot teaching method |
US10021830B2 (en) | 2016-02-02 | 2018-07-17 | Irobot Corporation | Blade assembly for a grass cutting mobile robot |
US10459063B2 (en) | 2016-02-16 | 2019-10-29 | Irobot Corporation | Ranging and angle of arrival antenna system for a mobile robot |
US11058040B2 (en) | 2016-03-29 | 2021-07-06 | Fuji Corporation | Operation checking device of electronic mounting machine |
JP6348141B2 (ja) * | 2016-04-28 | 2018-06-27 | ファナック株式会社 | 付加軸の状態が含まれる動作プログラムを表示するロボットの制御装置 |
US10295972B2 (en) | 2016-04-29 | 2019-05-21 | Brain Corporation | Systems and methods to operate controllable devices with gestures and/or noises |
JP6338617B2 (ja) * | 2016-05-31 | 2018-06-06 | 株式会社アスコ | 教示装置 |
US11577139B1 (en) | 2016-09-30 | 2023-02-14 | Airborne Athletics, Inc. | Basketball training system |
US10596436B1 (en) | 2016-11-08 | 2020-03-24 | Airborne Athletics, Inc. | Basketball training system |
JP6998660B2 (ja) | 2017-02-21 | 2022-01-18 | 株式会社安川電機 | ロボットシミュレータ、ロボットシステム及びシミュレーション方法 |
JP2018176288A (ja) | 2017-04-03 | 2018-11-15 | ファナック株式会社 | ロボットの教示装置 |
US10903107B2 (en) | 2017-07-11 | 2021-01-26 | Brooks Automation, Inc. | Semiconductor process transport apparatus comprising an adapter pendant |
US11470774B2 (en) | 2017-07-14 | 2022-10-18 | Irobot Corporation | Blade assembly for a grass cutting mobile robot |
JP6763846B2 (ja) | 2017-11-24 | 2020-09-30 | ファナック株式会社 | ロボットの教示操作を行う教示装置および教示方法 |
JP6958294B2 (ja) * | 2017-11-28 | 2021-11-02 | 株式会社デンソーウェーブ | 教示データ表示装置、教示データ表示方法 |
CN110340866A (zh) * | 2018-04-03 | 2019-10-18 | 台达电子工业股份有限公司 | 机械手臂的作动教导方法及其适用的手势教导装置 |
DE202018105721U1 (de) * | 2018-10-05 | 2020-01-20 | Fruitcore Gmbh | Roboter mit Antriebselement auf der Hauptwelle und Bedienvorrichtung für einen Roboter |
JP6918847B2 (ja) * | 2019-01-11 | 2021-08-11 | ファナック株式会社 | 機械の教示に用いる機械教示端末、教示システム、プログラム及び安全確認方法 |
JP7251224B2 (ja) * | 2019-03-11 | 2023-04-04 | セイコーエプソン株式会社 | 制御装置およびロボットシステム |
JP7395990B2 (ja) | 2019-11-25 | 2023-12-12 | セイコーエプソン株式会社 | 教示装置、制御方法および教示プログラム |
JP2021084215A (ja) * | 2019-11-29 | 2021-06-03 | セイコーエプソン株式会社 | 教示装置、ロボットシステムおよび教示プログラム |
JP2021094602A (ja) | 2019-12-13 | 2021-06-24 | セイコーエプソン株式会社 | 制御方法およびロボットシステム |
JP2022111464A (ja) * | 2021-01-20 | 2022-08-01 | セイコーエプソン株式会社 | コンピュータープログラム、ロボットの制御プログラムを作成する方法、及び、ロボットの制御プログラムを作成する処理を実行するシステム |
Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6020881A (ja) * | 1983-07-15 | 1985-02-02 | 三菱電機株式会社 | ロボツト・コントロ−ラ− |
JPS6044282A (ja) * | 1983-08-17 | 1985-03-09 | 三菱電機株式会社 | 産業用ロボツトの制御装置 |
JPS621005A (ja) * | 1985-06-27 | 1987-01-07 | Amada Co Ltd | ロボツトの教示方法 |
JPS6389279A (ja) * | 1986-10-01 | 1988-04-20 | 本田技研工業株式会社 | ロボツトの動作教示方法 |
JPH0197591A (ja) * | 1987-10-09 | 1989-04-17 | Fujitsu Ltd | 宇宙用ロボット操縦支援システム |
JPH01100203U (ja) * | 1987-12-24 | 1989-07-05 | ||
JPH01269105A (ja) * | 1988-04-21 | 1989-10-26 | Fanuc Ltd | オフラインプログラミング装置 |
JPH0215284U (ja) * | 1988-07-11 | 1990-01-30 | ||
JPH0566825A (ja) * | 1991-09-06 | 1993-03-19 | Fanuc Ltd | 画像処理装置におけるモニタ装置 |
JPH0655476A (ja) * | 1992-07-31 | 1994-03-01 | Citizen Watch Co Ltd | ロボット教示装置 |
JPH0699377A (ja) * | 1992-09-22 | 1994-04-12 | Nippon Telegr & Teleph Corp <Ntt> | ロボット軌道を教示するための方法 |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3920972A (en) * | 1974-07-16 | 1975-11-18 | Cincinnati Milacron Inc | Method and apparatus for programming a computer operated robot arm |
JPS59229619A (ja) * | 1983-06-10 | 1984-12-24 | Hitachi Ltd | ロボツトの作業教示システムおよびその使用方法 |
JPS60256807A (ja) * | 1984-06-01 | 1985-12-18 | Mitsubishi Electric Corp | ロボットのティーチング装置 |
JPH0772844B2 (ja) * | 1985-10-23 | 1995-08-02 | 株式会社日立製作所 | ロボット教示装置 |
JP2525358B2 (ja) * | 1986-01-25 | 1996-08-21 | フアナツク株式会社 | ロボツト制御装置 |
JPS63196388A (ja) * | 1987-02-06 | 1988-08-15 | 株式会社東芝 | 遠隔操作ロボツトの教示装置 |
JPS645779A (en) * | 1987-06-29 | 1989-01-10 | Fanuc Ltd | Robot arrangement examination system |
US5046022A (en) * | 1988-03-10 | 1991-09-03 | The Regents Of The University Of Michigan | Tele-autonomous system and method employing time/position synchrony/desynchrony |
US4998050A (en) * | 1988-06-13 | 1991-03-05 | Nissan Motor Co., Ltd. | System and method for teaching robots |
EP0378649B1 (de) * | 1988-06-30 | 1995-03-08 | TRAUB Aktiengesellschaft | Vorrichtung zum eingeben von steuerdaten in eine cnc-werkzeugmaschine |
US5079491A (en) * | 1989-05-23 | 1992-01-07 | Honda Giken Kogyo Kabushiki Kaisha | Robot control system |
DE3925275A1 (de) * | 1989-07-31 | 1991-02-07 | Kernforschungsz Karlsruhe | Verfahren zur manipulation in unzugaenglichen arbeitsraeumen |
JPH03161792A (ja) * | 1989-11-20 | 1991-07-11 | Fanuc Ltd | 3次元カーソル及びそれを用いたオフラインプログラミング方式 |
US5488440A (en) * | 1992-02-04 | 1996-01-30 | Fukuoka Seimitu Kabushiki Kaisha | Clamp type screw loosening prevention mechanism for glasses |
JP3051968B2 (ja) * | 1992-03-10 | 2000-06-12 | 新明和工業株式会社 | 加工ロボットのオフライン教示方法 |
JPH05309582A (ja) * | 1992-05-13 | 1993-11-22 | Toshiba Corp | ロボットのオフラインティーチングシステム及びロボットの動作解析装置 |
JPH0699375A (ja) * | 1992-09-18 | 1994-04-12 | Kawasaki Heavy Ind Ltd | ロボット操作訓練装置 |
JPH06344279A (ja) * | 1993-06-07 | 1994-12-20 | Hitachi Ltd | 遠隔作業装置及び方法 |
JP2933305B2 (ja) * | 1994-12-15 | 1999-08-09 | ファナック株式会社 | ロボット用教示操作盤 |
-
1995
- 1995-09-18 JP JP23846995A patent/JP4014662B2/ja not_active Expired - Fee Related
-
1996
- 1996-09-18 EP EP96931245A patent/EP0792726B1/en not_active Expired - Lifetime
- 1996-09-18 WO PCT/JP1996/002688 patent/WO1997010931A1/ja active IP Right Grant
- 1996-09-18 DE DE69603009T patent/DE69603009T2/de not_active Expired - Fee Related
- 1996-09-18 US US08/836,752 patent/US5937143A/en not_active Expired - Lifetime
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6020881A (ja) * | 1983-07-15 | 1985-02-02 | 三菱電機株式会社 | ロボツト・コントロ−ラ− |
JPS6044282A (ja) * | 1983-08-17 | 1985-03-09 | 三菱電機株式会社 | 産業用ロボツトの制御装置 |
JPS621005A (ja) * | 1985-06-27 | 1987-01-07 | Amada Co Ltd | ロボツトの教示方法 |
JPS6389279A (ja) * | 1986-10-01 | 1988-04-20 | 本田技研工業株式会社 | ロボツトの動作教示方法 |
JPH0197591A (ja) * | 1987-10-09 | 1989-04-17 | Fujitsu Ltd | 宇宙用ロボット操縦支援システム |
JPH01100203U (ja) * | 1987-12-24 | 1989-07-05 | ||
JPH01269105A (ja) * | 1988-04-21 | 1989-10-26 | Fanuc Ltd | オフラインプログラミング装置 |
JPH0215284U (ja) * | 1988-07-11 | 1990-01-30 | ||
JPH0566825A (ja) * | 1991-09-06 | 1993-03-19 | Fanuc Ltd | 画像処理装置におけるモニタ装置 |
JPH0655476A (ja) * | 1992-07-31 | 1994-03-01 | Citizen Watch Co Ltd | ロボット教示装置 |
JPH0699377A (ja) * | 1992-09-22 | 1994-04-12 | Nippon Telegr & Teleph Corp <Ntt> | ロボット軌道を教示するための方法 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6560513B2 (en) * | 1999-11-19 | 2003-05-06 | Fanuc Robotics North America | Robotic system with teach pendant |
Also Published As
Publication number | Publication date |
---|---|
DE69603009D1 (de) | 1999-07-29 |
JPH0985655A (ja) | 1997-03-31 |
DE69603009T2 (de) | 1999-10-21 |
EP0792726B1 (en) | 1999-06-23 |
EP0792726A1 (en) | 1997-09-03 |
EP0792726A4 (ja) | 1997-10-15 |
JP4014662B2 (ja) | 2007-11-28 |
US5937143A (en) | 1999-08-10 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO1997010931A1 (fr) | Pendant d'apprentissage | |
JP4347313B2 (ja) | ロボット教示操作盤 | |
JP3841439B2 (ja) | ロボットのジョグ送り方法 | |
US10807240B2 (en) | Robot control device for setting jog coordinate system | |
KR102042115B1 (ko) | 로봇의 동작프로그램 생성방법 및 로봇의 동작프로그램 생성장치 | |
JPH0699375A (ja) | ロボット操作訓練装置 | |
JPH11262883A (ja) | ロボットのマニュアル操作装置 | |
JP2016175177A (ja) | ロボット操作装置、ロボット操作方法 | |
JP3675004B2 (ja) | ロボットの制御装置 | |
JPH11262884A (ja) | ロボットのマニュアル操作装置 | |
JP2017052031A (ja) | ロボット操作装置、ロボット操作方法 | |
JPH0981228A (ja) | ロボット教示操作盤およびロボットプログラムの更新方法 | |
Kazi et al. | Next generation teach pendants for industrial robots | |
JPS63139689A (ja) | 遠隔マニピユレ−シヨン・システムの画像表示装置 | |
JP2792842B2 (ja) | ロボット作業教示方法および装置 | |
JP2005342891A (ja) | 産業用ロボットの手持操作器およびロボット制御システム | |
JPH0816861B2 (ja) | 3次元グラフィックの接触感フィードバック装置 | |
JP5062535B2 (ja) | 産業用ロボットの手持操作器およびロボット制御システム | |
JP3960569B2 (ja) | 産業用ロボットの手持操作器およびロボット制御システム | |
JP2023147686A (ja) | ティーチングペンダント | |
CN118251644A (zh) | 显示控制装置、显示控制方法和程序 | |
JPH07132475A (ja) | ロボット位置教示装置 | |
JP2807117B2 (ja) | ウインドウ表示制御装置 | |
JPH01159722A (ja) | 座標入力装置 | |
CN117340932A (zh) | 显示系统以及示教系统 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): US |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): AT BE CH DE DK ES FI FR GB GR IE IT LU MC NL PT SE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1996931245 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 08836752 Country of ref document: US |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
WWP | Wipo information: published in national office |
Ref document number: 1996931245 Country of ref document: EP |
|
WWG | Wipo information: grant in national office |
Ref document number: 1996931245 Country of ref document: EP |