Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
US-9622826-B2 · Apr 18, 2017 · US
Teaching apparatus and robot system
US2016001445A1 · US · A1
| Field | Value |
|---|---|
| Publication number | US-2016001445-A1 |
| Application number | US-201514753401-A |
| Country | US |
| Kind code | A1 |
| Filing date | Jun 29, 2015 |
| Priority date | Jul 1, 2014 |
| Publication date | Jan 7, 2016 |
| Grant date | — |
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Abstract
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A teaching apparatus for a robot which moves a work object so that the work object is aligned at a predetermined position and attitude, includes a display section that displays a screen for setting the predetermined position and attitude, an operation section that allows the screen to be operated, and a computation section that computes the predetermined position and attitude, in which the screen includes a first screen for operating the robot so as to move the work object into an imaging range of an imaging device, and a second screen for moving the work object so that the work object is aligned at a target position and attitude, and in which the computation section computes the predetermined position and attitude by using a captured image obtained by the imaging device imaging the work object, and the target position and attitude.
First claim
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What is claimed is: 1 . A teaching apparatus for a robot which moves a work object so that the work object is aligned at a predetermined position and attitude, comprising: a display section that displays a screen for setting the predetermined position and attitude; an operation section that allows the screen to be operated; and a computation section that computes the predetermined position and attitude, wherein the screen includes a first screen for operating the robot so as to move the work object into an imaging range of an imaging device; and a second screen for moving the work object so that the work object is aligned at a target position and attitude, and wherein the computation section computes the predetermined position and attitude by using a captured image obtained by the imaging device imaging the work object, and the target position and attitude. 2 . The teaching apparatus according to claim 1 , wherein either or both of the first screen and the second screen include a region in which the captured image obtained by the imaging device is displayed. 3 . The teaching apparatus according to claim 1 , wherein either or both of the first screen and the second screen include a region in which a work procedure is displayed. 4 . The teaching apparatus according to claim 1 , wherein the computation section calculates a relative position and attitude between the target position and attitude and the predetermined position and attitude by using the captured image on the basis of an operation which is input via the first screen by using the operation section, and acquires the target position and attitude on the basis of an operation which is input via the second screen by using the operation section and computes the predetermined position and attitude by using the calculated relative position and attitude and the acquired target position and attitude. 5 . A robot system comprising: a robot that moves a work object so that the work object is aligned at a predetermined position and attitude; and a teaching apparatus that teaches the predetermined position and attitude to the robot, wherein the teaching apparatus includes a display section that displays a screen for setting the predetermined position and attitude; an operation section that allows the screen to be operated; and a computation section that computes the predetermined position and attitude, wherein the screen includes a first screen for operating the robot so as to move the work object into an imaging range of an imaging device; and a second screen for moving the work object so that the work object is aligned at a target position and attitude, and wherein the computation section computes the predetermined position and attitude by using a captured image obtained by the imaging device imaging the work object, and the target position and attitude.
Assignees
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Classifications
Graphical user interface for robotics, visual robot user interface · CPC title
Teaching system · CPC title
- B25J9/1633Primary
compliant, force, torque control, e.g. combined with position control · CPC title
Pick 3-D object from pile of objects · CPC title
Pick up article, object, measure, test it during motion path, place it · CPC title
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- What does patent US2016001445A1 cover?
- A teaching apparatus for a robot which moves a work object so that the work object is aligned at a predetermined position and attitude, includes a display section that displays a screen for setting the predetermined position and attitude, an operation section that allows the screen to be operated, and a computation section that computes the predetermined position and attitude, in which the scre…
- Who is the assignee on this patent?
- Seiko Epson Corp
- What technology area does this patent fall under?
- Primary CPC classification B25J9/1633. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Thu Jan 07 2016 00:00:00 GMT+0000 (Coordinated Universal Time) (A1). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 2 related publications on this page (citations in our corpus or others sharing the same primary CPC).