Path generation for manual robot teaching

Patent metadata

Field	Value
Publication number	US-12569995-B2
Application number	US-202318178536-A
Country	US
Kind code	B2
Filing date	Mar 6, 2023
Priority date	Mar 8, 2022
Publication date	Mar 10, 2026
Grant date	Mar 10, 2026

Abstract

A robot system includes: a robot; a robot controller configured to control the robot based on sequential taught positions; and a teaching device communicative with the robot controller and configured to receive operations by an operator, wherein the robot controller includes circuitry configured to: generate, in response to determining that a target position is designated by the operator on the teaching device, a path from a current position of the robot to the target position by simulation of moving the robot based on surrounding environmental information of the robot; and move the robot toward the target position along the generated path.

First claim

What is claimed is:

1 . A robot system comprising:
a robot; a robot controller configured to control the robot using a plurality of taught positions; and a teaching device communicative with the robot controller and configured to receive operations by an operator that manually operates the robot by using the teaching device, wherein the robot controller comprises circuitry configured to:
receive an operation on the teaching device while the operator manually operates the robot;
identify a type of the received operation;
generate, in response to determining that the type of the received operation is a target request that designates a target position of the robot, a path from a current position of the robot to the target position by simulation of moving the robot based on surrounding environmental information of the robot;
move the robot toward the target position along the generated path;
move, in response to determining that the type of the received operation is a moving request that designates a moving direction of the robot, the robot toward the moving direction;
add, in response to determining that the type of the received operation is an adding request, a new taught position of the robot to the plurality of taught positions, wherein the new taught position is identified after moving the robot in response to determining the type of the received operation; and
cause, in response to determining that the type of the received operation is a playback request, the robot to playback a taught motion defined by the plurality of taught positions including the new taught position identified after moving the robot.

2 . The robot system according to claim 1 , wherein the circuitry is configured to add two or more new taught positions to the plurality of taught positions by repeating, after moving the robot toward the target position, operations including:
receiving an additional operation on the teaching device while the operator manually operates the robot; identifying a type of the additional operation; moving, in response to determining that the type of the additional operation is the moving request, the robot to move toward the moving direction; and adding, in response to determining that the additional operation is the adding request, the new taught position of the robot, wherein the new taught position is identified after moving the robot in response to determining the type of the additional operation.

3 . The robot system according to claim 2 , wherein the circuitry is configured to permit the adding request after completion of a motion of the robot started before the adding request.

4 . The robot system according to claim 1 , wherein the circuitry is configured to:
display a list of positions on the teaching device; receive an input of the operator that designates a position selected from the list of positions; and generate, in response to determining that the target position is the selected position, the path to the target position.

5 . The robot system according to claim 1 , wherein the circuitry is further configured to add, in response to determining that the type of the received operation is a registration request on the teaching device, one or more via positions of the generated path to the plurality of taught positions.

6 . The robot system according to claim 1 , wherein the circuitry is further configured to display the generated path on the teaching device and wait for an execution request by the operator on the teaching device before moving the robot along the displayed path.

7 . The robot system according to claim 1 , wherein the circuitry is further configured to:
display a simulated image of the robot on the teaching device; receive an input of the operator that identifies a selected position in the image of the robot; and generate, in response to determining that the target position is the selected position identified in the image of the robot, the path to the target position.

8 . The robot system according to claim 1 , wherein the circuitry is configured to suspend a motion of the robot toward the target position along the generated path in response to determining that the type of the received operation is a suspension request on the teaching device.

9 . The robot system according to claim 8 , wherein the circuitry is configured to:
cause the robot to continue the motion toward the target position along the generated path in response to determining that the type of the received operation is a continuous request on the teaching device; and suspend the motion toward the target position in response to determining that the type of the received operation is the suspension request by suspending the continuous request on the teaching device.

10 . The robot system according to claim 9 , wherein the circuitry is configured to move, in response to determining that the type of the received operation is a resumption request of the suspended motion on the teaching device, the robot to return on the generated path, and causing the robot to resume the suspended motion.

11 . The robot system according to claim 9 , wherein the circuitry is configured to regenerate, in response to determining that the type of the received operation is a resumption request of the suspended motion on the teaching device, the path to the target position and move the robot toward the target position along the regenerated path.

12 . The robot system according to claim 9 , wherein the circuitry is configured to selectively execute, in response to determining that the type of the received operation is a resumption request of the suspended motion on the teaching device, a control based on a current status of the robot, wherein the control is selected from:
a first control that includes causing the robot to resume the suspended motion; a second control that includes moving the robot to return on the generated path, and causing the robot to resume the suspended motion; and a third control that includes regenerating a path to the target position and moving the robot toward the target position along the regenerated path.

13 . The robot system according to claim 12 , wherein the circuitry is configured to detect the current status of the robot based on a record of controlling the robot after the time of suspending.

14 . The robot system according to claim 12 , wherein the circuitry is configured to:
detect, as the current status, a positional deviation of the robot from the generated path; select the second control in response to determining that the detected positional deviation is smaller than a predetermined threshold; and select the third control in response to determining that the detected positional deviation is greater than the threshold.

15 . The robot system according to claim 1 , wherein the circuitry is further configured to cause the robot to execute a reverse motion toward a direction away from the target position along the generated path in response to determining that the type of the received operation is a reverse request on the teaching device.

16 . A robot system according to claim 1 , wherein the circuitry is further configured to:
suspend, in response to determining that the type of the received operation is a suspension request on the teaching device, a motion of the robot toward the target position along the generated path; detect, in response to determining that the type of the received operation is a resumption request of the suspended motion on the teaching device, a positional deviation of the robot from the generated path; move, in

Assignees

• Yaskawa Electric Corp

Inventors

• Maeda Takahiro
• Arita Yuta
• Maruno Motoharu

Classifications

• G05B19/427 Primary

  Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, leader-follower control (G05B19/423 takes precedence) · CPC title

• G05B2219/39001

  Robot, manipulator control · CPC title

• 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 · CPC title

• B25J9/0081

  with leader teach-in means · CPC title

• B25J9/1664 Primary

  characterised by motion, path, trajectory planning · CPC title