Generation method, computer program, and generation system

Patent metadata

Field	Value
Publication number	US-12311541-B2
Application number	US-202318162808-A
Country	US
Kind code	B2
Filing date	Feb 1, 2023
Priority date	Feb 2, 2022
Publication date	May 27, 2025
Grant date	May 27, 2025

Abstract

A generation method of generating a motion control program for a robot includes displaying a plurality of parameters relating to a motion of a human, receiving a selection of an imitation parameter as the parameter to be imitated by the robot from the displayed plurality of parameters, and generating the motion control program with reference to the motion of the human corresponding to the received imitation parameter.

First claim

What is claimed is:

1. A control method for causing a processor to execute a program stored in a memory, the control method comprising executing on the processor the steps of:
capturing a motion image of a human by a camera while a teaching operation is conducted by the human, a pressure sensor being attached at a hand of the human;
obtaining depth information of the human in the motion image;
obtaining a detection signal from the pressure sensor, the detection signal corresponding to a force value applied to a workpiece by the hand of the human while the teaching operation is conducted;
generating a plurality of parameters relating to the teaching operation based on the motion image, the depth information, and the detection signal;
displaying the plurality of parameters;
receiving a selection of an imitation parameter from the displayed plurality of parameters, the imitation parameter being imitated by a robot;
generating a motion control program with reference to the teaching operation of the human corresponding to the received imitation parameter; and
causing the robot to perform a robot operation on the workpiece, the robot operation corresponding to the teaching operation.

2. The generation method according to claim 1 , wherein
the plurality of parameters include at least two or more of:
positions before and after a movement of the workpiece handled by the robot;
a movement trajectory of the workpiece;
a gripping position that the human grips the workpiece;
a movement speed of the workpiece;
the force value applied to the workpiece by the human; and
a preliminary operation performed before the human moves the workpiece.

3. The generation method according to claim 2 , wherein
when the imitation parameter includes the preliminary operation, the generating step generates the motion control program for controlling the robot to execute a motion imitating the preliminary operation.

4. The generation method according to claim 1 , wherein
the generating step generates the motion control program using preset parameter initial information defining the robot operation of the robot with respect to another parameter than the imitation parameter of the plurality of parameters.

5. The generation method according to claim 1 , wherein
the displaying step displays a reception image including a parameter explanatory image showing the plurality of parameters and a parameter selection image for determination as to whether each of the plurality of parameters is selected as the imitation parameter.

6. A non-transitory computer-readable storage medium storing a computer program for causing a computer to execute a process by a processor so as to perform the steps of:
capturing a motion image of a human by a camera while a teaching operation is conducted by the human, a pressure sensor being attached at a hand of the human;
obtaining depth information of the human in the motion image;
obtaining a detection signal from the pressure sensor, the detection signal corresponding to a force value applied to a workpiece by the hand of the human while the teaching operation is conducted;
generating a plurality of parameters relating to the teaching operation based on the motion image, the depth information, and the detection signal;
displaying the plurality of parameters on a display;
receiving a selection of an imitation parameter from the displayed plurality of parameters, the imitation parameter being imitated by a robot;
generating a motion control program with reference to the teaching operation of the human corresponding to the received imitation parameter; and
causing the robot to perform a robot operation on the workpiece, the robot operation corresponding to the teaching operation.

7. A control system comprising:
a memory configured to store a program; and
a processor configured to execute the program so as to:
capture a motion image of a human by a camera while a teaching operation is conducted by the human, a pressure sensor being attached at a hand of the human;
obtain depth information of the human in the motion image;
obtain a detection signal from the pressure sensor, the detection signal corresponding to a force value applied to a workpiece by the hand of the human while the teaching operation is conducted;
generate a plurality of parameters relating to the teaching operation based on the motion image, the depth information, and the detection signal;
display the plurality of parameters on a display;
receive a selection of an imitation parameter from the displayed plurality of parameters, the imitation parameter being imitated by a robot;
generate a motion control program with reference to the teaching operation of the human corresponding to the received imitation parameter; and
cause the robot to perform a robot operation on the workpiece, the robot operation corresponding to the teaching operation.

Assignees

• Seiko Epson Corp

Inventors

• Negishi Shun

Classifications

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title

• B25J9/1689

  Teleoperation · CPC title

• G05B2219/39546

  Map human grasps to manipulator grasps · CPC title

• G05B2219/40116

  Learn by operator observation, symbiosis, show, watch · CPC title

• G05B2219/36442

  Automatically teaching, teach by showing · CPC title