29results about "Recording and playback systems" patented technology

The present disclosure generally relates to performance recreation, and in particular, the recreation of observed human performance using reinforcement learning. In this regard, a first object is identified from a plurality of objects. The manipulation of the first object is tracked from a first position to a second position. A characterization of the manipulation is generated. A policy that controls a mechanical gripper to recreate the manipulation is generated based on an iteratively increasing cumulative award. The mechanical gripper iteratively recreates the manipulation to increase a cumulative award with each recreation.

A robot teaching method and apparatus, an electronic device, and a storage medium. The method is used for teaching a robot of which the operation range can cover a plurality of operation stations, wherein the plurality of operation stations are configured to store operation objects. The method comprises: determining target operation stations specified by a user, wherein the target operation stations are some of the plurality of operation stations; teaching the robot on the basis of the target operation stations to obtain a first teaching result; and according to the first teaching result and arrangement information of the plurality of operation stations, obtaining a second teaching result of the other operation stations different from the target operation stations among the plurality of operation stations. After teaching is performed for some of operation stations, a teaching result of the other operation stations can be calculated.

To provide a transport facility that is able to achieve excellent transport efficiency when transporting an article by means of a plurality of transport vehicles.SOLUTION: A transport facility includes a plurality of transport vehicles and a control system. When a target article is transported from a transport source (S) to a transport destination (G) via a relay device (4) by using two transport vehicles (21A, 22B), a control system updates an estimated arrival time of the target article at a receiving position (R) of the relay device (4), based on a check-point passage time (Tc) at which the target article has passed through a check point (C); and dispatches a second transport vehicle (22B) to the receiving position (R) in accordance with an updated estimated time (Tu).SELECTED DRAWING: Figure 7

To provide technology capable of generating an action control program actualizing desired robot actions.SOLUTION: A generation method of generating an action control program for a robot comprises the processes of: displaying a plurality of parameters associated with human's actions; receiving a choice of simulation parameters as parameters for letting the robot simulate actions among the plurality of displayed parameters; and generating the action control program by referring to human's actions corresponding to the received simulation parameters.SELECTED DRAWING: Figure 6

To provide an operation method of a robot which can suppress complication of setting work, when work is performed on workpiece by a multi-joint robot arm while relatively moving a work part.SOLUTION: An operation method of a robot, which includes a multi-joint robot arm 10 that includes five or more joints, has an imaging part for performing imaging work on workpiece 200 on its tip part and moves the imaging part, includes the steps of: outputting a signal based on relative moving amounts of the imaging part for each relative moving amount of the imaging part with respect to the workpiece 200, by movement of the imaging part provided on the tip of the multi-joint robot arm 10; and controlling the imaging work on the workpiece 200 by the imaging part on the basis of the output signal.SELECTED DRAWING: Figure 2

A method of manufacture is provided during which a component (60) is scanned using a computed tomography machine (126) to provide scan data. The component (60) includes a first member (74) and a second member (76). A first member aperture (116) extends through the first member (74) to the second member (76). Aperture data is determined for the first member aperture (116) based on the scan data. A center (136) of the scanned geometry is located. An eigen vector (138) is determined for the scanned geometry at the center (136). An exterior point of intersection (142) between an exterior surface (70) of the second member (76) and an axis (140) is located. The axis (140) is coincident with the center (136) and determined using the eigen vector (138). A second member aperture (118) is formed in the second member (76) according to a formation operation that aligns the second member aperture (118) being formed with the first member aperture (116) in the first member (74).

The present invention provides a robot operating device that can reduce user errors and workload when instructing a robot to perform actions. [Solution] The robot operating device 100 according to the present invention is a robot operating device that instructs a robot 101 to perform an operation, and comprises a processing unit 127 that executes an operation program, a display device 124 with a touch panel that displays a manual operation screen 130 of the operation program, and an enable switch 125a that puts the robot into an operational state, the manual operation screen includes a plurality of buttons 134 for robot operation, and the processing unit displays an enlarged view of the button 134a to be operated when the enable switch is pressed to the ON state.

This invention provides a robot control information history management program and a robot control information history management device that facilitate the identification of the cause of malfunctions. [Solution] The history management program is a history management program that manages change history information of control information that defines the operation of a robot, and causes a computer to execute an acquisition process to acquire the set or changed control information in response to the setting or change of the control information, and a notification process to notify the management server of the acquired control information. The history management device manages change history information of control information that defines the operation of a robot. The history management device executes an acquisition process to acquire the set or changed control information in response to the setting or change of the control information, and a notification process to notify the management server of the acquired control information.

A method for teaching a planar transport device, in which an operating behavior of at least one handling element of the planar transport device, which is configured as an electrodynamically movable mover and is configured for handling products, is taught by an operator interaction of an operator, which is designed differently from a manual writing of a programming command. The operator interaction takes place directly, preferably free of an additional operator input device, at the handling element in order to specify the operating behavior of the handling element.

The present disclosure relates to neural networks for generating robot task demonstrations. One technique for training a neural network includes generating a plurality of input vectors based on a first plurality of task demonstrations associated with a first robot performing a first task in a simulated environment, where each input vector included in the plurality of input vectors specifies a sequence of poses of an end effector of the first robot, and training the neural network to generate a plurality of output vectors based on the plurality of input vectors. Another technique for generating a task demonstration includes generating a simulated environment including a robot and at least one object, causing the robot to at least partially perform a task associated with the at least one object in the simulated environment based on a first output vector generated by the trained neural network, and recording demonstration data of the robot at least partially performing the task in the simulated environment.

This power control system provides a high level of safety even when an external force exceeding a certain level is applied to the working part. [Solution] A power control system 1 that performs impedance control on at least the operating unit 11 of a work unit 12 and an operating unit 11, comprising: a work unit 12 configured to perform a predetermined task; an operating unit 11 configured to move the work unit 12; a detection unit 20 that detects the work unit position, which is the position of the work unit; a calculation unit 30 that calculates the driving force generated in the operating unit 11 based on the target position Xd, the work unit position X, and the impedance value; and a control unit 30 having a driving signal generation unit 40 that outputs a driving signal to the operating unit 11 based on the driving force F, wherein the control unit 30 has a driving force suppression unit 31 that suppresses the driving force F when the driving force F reaches a threshold F1.

Welding angle correction apparatus and methods of correcting angles of a welding torch positioned by a user when training a robot of a robotic welding system are provided. Weldment depth data of a weldment and a corresponding weld are acquired and 3D point cloud data is generated. A 3D plane and intersection data representing the weldment and the weld are generated from the 3D point cloud data. User placed 3D torch position and orientation data of welding points recorded along the weld are imported. Based on the user placed torch position and orientation data and the 3D plane and intersection data, a torch push angle and a torch work angle are calculated for the recorded welding points relative to the weldment and the weld. The torch push angle and the torch work angle are corrected for the recorded welding points based on ideal angles of the weld previously stored.

To provide an image generating device that generates a display image for displaying a reachable range of a tool in a predetermined attitude.SOLUTION: An image generating device 3 is provided with: a positional relation obtaining part 32 that obtains a relative positional relation between a reference marker 6 existing in a real environment and a display device 4; an attitude obtaining part 33 that obtains a target attitude concerning a virtual tool; an identifying part 34 that identifies a reachable range of a virtual tool in the target attitude attached to a virtual robot arranged to have a predetermined positional relation with the reference marker, on the basis of a three-dimensional model of the virtual robot attached with the virtual tool; an image generating part 36 that generates a display image for displaying the reachable range identified by the identifying part 34, on the basis of the relative positional relation; and an output part 37 that outputs the display image to the display device 4. Such configuration enables the reachable range of the virtual tool in the target attitude to be displayed.SELECTED DRAWING: Figure 1

To allow for teaching a movement path for interference avoidance on a virtual space in consideration of an element incidental to a movable structure.SOLUTION: A manufacturing facility design support device composed of a plurality of components including a movable part comprises: an input unit which inputs facility design information containing shapes and position attitudes of components constituting the manufacturing facility and at least one of a rotation mechanism and a translation mechanism between the components, and facility measurement information containing a measurement position attitude representing a measurement view point when a real machine of the manufacturing facility is measured and measurement data of the components which are measurement results; a real machine difference calculation unit which extracts a difference using the facility design information and the facility measurement information and obtains a difference list; a difference reflection model calculation unit which calculates a difference reflection model reflecting the difference of the difference list in the facility design information; and a storage unit which stores the facility design information, the facility measurement information, the difference list, and the difference reflection model.SELECTED DRAWING: Figure 6

Provided is a program editing device for creating a program by means of process blocks representing functions that constitute a program that controls industrial machinery, the program editing device comprising: a screen image generation unit for generating a program creation screen image for creating a program by arranging process blocks; and a composite function generation unit for generating a composite process block having a function for integrating process blocks in accordance with an operation for overlapping the process blocks, each of the process blocks corresponding to a single function in the program creation screen image.

A robot programming apparatus has a model configuration section that configures a robot system model including a robot model, a hand model mounted on the robot model, and a workpiece model in a virtual space; a surface specification section that accepts a user operation that specifies a surface involved in a prescribed work performed by the robot model on the workpiece model in the virtual space; a grid configuration section that configures a three-dimensional grid in the virtual space using the specified surface or a point on the surface as a reference; a posture setting section that sets a posture of the robot model that holds the workpiece model configured at a grid point of the three-dimensional grid using the hand model; and a teaching point generation section that generates a teaching point that constitutes a motion program of the prescribed work based on the grid point at which the workpiece model is configured and the posture of the robot model set at the grid point.

This disclosure provides a method for printing three-dimensional objects and a teaching method for a robotic arm. The surface of the workpiece has a smooth region and a region of varying height adjacent to the smooth region. The method for printing three-dimensional objects includes performing a first printing action of spraying liquid from the head onto the smooth region during a period in which the relative position and posture of the head and the workpiece change, and performing a second printing action of spraying liquid from the head onto the region of varying height before or after the first printing action during a period in which the relative position and posture of the head and the workpiece change. When the normal of the spraying surface is defined as the first normal, the normal at the intersection of the workpiece surface and the first normal is defined as the second normal, and the angle between the first normal and the second normal is defined as the spraying angle, the change in the spraying angle during the execution of the second printing action is larger than the change in the spraying angle during the execution of the first printing action.

This invention discloses a robot teaching and testing system and method for performing human-operated robot tasks according to instructions generated from a generative AI model. The process begins with a user prompt, which is combined with a predetermined prompt template to generate a well-formatted text prompt. The generative AI model takes the text prompt and converts it into high-level instructions or control code that can be deployed on the robot. The high-level instructions are then converted into human-operated robot tasks for a human data collector using a mixed reality (MR) device. The human data collector attempts to complete the human-operated robot task according to the instructions, can override the proposed instructions by performing different actions, can perform a task without instructions, or can leave feedback or comments on the task. The feedback data is captured and stored to improve the robot system.

Provided is a workpiece measurement method, a workpiece measurement system, and a program capable of measuring the shape and position of a workpiece without preparing three-dimensional CAD data or the like in advance. A workpiece measurement method of measuring the shape and position of a workpiece composed of a plurality of components includes: an acquisition step of acquiring three-dimensional point cloud data of the workpiece; a profile inference step of inferring one or more bounding boxes representing profiles corresponding to the plurality of components using conditions defined in correspondence with the shape of the workpiece to be measured and the point cloud data; and an optimization step of optimizing the one or more bounding boxes inferred in the profile inference step by adjusting parameters using an evaluation function to determine the shape of the plurality of components.

A numerical control device and a numerical control system are provided that allow a machine tool user to easily set information about a load. This numerical control device uses a numerical control program to control a robot via a robot control device and includes a teaching method selection unit to receive a selection from a user from a variety of teaching methods for executing a teaching method for the robot. The variety of teaching methods includes at least one direct teaching method for moving an axis of the robot in response to an external force applied to the robot.

An inspection system (100) according to this disclosure includes a robot (10), an inspector (20), and a processor (41, 51, 61). The processor performs processing of generating a movement path (13) of the robot; processing of generating the coordinate transformation information (71, 72) based on the movement path; processing of operating the robot based on the generated movement path to inspect the workpiece (200) using the inspector and to acquire the inspection image (21); processing of detecting a target (201) on the workpiece in the acquired inspection image; processing of converting coordinate values of the target in the inspection coordinate system into coordinate values in the three-dimensional coordinate system based on the generated coordinate transformation information; and processing of indicating a position of the target on the actual workpiece or in a three-dimensional image of the workpiece based on the converted coordinate values of the target in the three-dimensional coordinate system.

A teaching device (40, 10A) for performing program creation using an icon representing a function constituting a control program for an industrial machine is provided, the teaching device (40, 10A) including: a state information acquisition unit (156, 115) that acquires state information indicating whether or not the icon constituting the control program can execute an anticipated action, or has performed execution thereof or not; and an information display creating unit (157, 117) that creates a display relating to the icon, so that whether or not the icon making can execute the anticipated action or has performed execution thereof or not can be visually recognized on the program creating screen, on the basis of the state information.

To provide an image generating device for studying arrangements of a robot.SOLUTION: An image generating device 3 is provided with: an image generating part 36 that generates a display image of a three-dimensional model of a virtual robot using a relative positional relation between a reference marker 6 and a display device 4; an output part 37 that outputs the display image to the display device 4; a registering part 34 that registers a position and an attitude of an end effector of the virtual robot in response to reception of a registration instruction; and a robot positional relation obtaining part 35 that obtains a new positional relation between the reference marker 6 and the virtual robot in response to reception of a movement instruction. The image generating part 36 generates a display image of a three-dimensional model of the virtual robot in which the end effector is in a registered position and in a registered attitude, which is arranged to have the new positional relation with the reference marker 6, in response to the movement instruction. Such configuration enables a position at which the virtual robot is arranged to be studied, in a state in which the position and the attitude of the end effector are fixed.SELECTED DRAWING: Figure 1

It is desired to further reduce the number of teaching points in a program that moves a robot. Provided is a programming device that generates trajectory information, which indicates a trajectory of movement of a tip point of a robot, as a program. The programming device comprises: a first trajectory information generation unit that generates first trajectory information indicating a trajectory of movement of the tip point of the robot, on the basis of a movement command for the robot; a teaching point generation unit that generates a teaching point on the trajectory of the first trajectory information; a program generation unit that generates a program of the first trajectory information in which the teaching point has been generated; a second trajectory information generation unit that acquires second trajectory information indicating a trajectory of movement of the tip point of the robot moved by the program; an error calculation unit that calculates an error between the first trajectory information and the second trajectory information; and a teaching point addition unit that adds a teaching point on the trajectory of the first trajectory information until the error becomes equal to or less than a tolerance value.

[Problem] To enable an operator to understand a portion that requires correction in trajectory result data and continuous result data regarding the force of a robot. [Solution] A display device comprises: a display unit that, when teaching a robot, displays, in association with each other, information related to the trajectory of the robot and information related to the force of the robot, both of which are obtained as a result of action by the robot; an identification unit that identifies a portion that requires correction, on the basis of the information related to the trajectory and the information related to the force of the robot; and a control unit that controls the display unit so as to display the identified portion in an emphasized manner. Accordingly, regarding the information related to the trajectory and the information related to the force of the robot, it is possible to enable an operator to understand the portion that requires correction.

This robot control system controls a robot system comprising: one first arm having a plurality of degrees of freedom; and one or more second arms each having a plurality of degrees of freedom including a redundant degree of freedom. The robot control system comprises: a setting unit that sets a constraint condition between at least one from among the position and the orientation of the first arm and at least one from among the position and the orientation of each of the one or more second arms; a search unit that sets up a search space formed using at least the plurality of degrees of freedom of the first arm and the respective redundant degrees of freedom of the one or more second arms, and that finds, in the search space, a path for moving the robot system from a start point to an end point in a manner so as to satisfy the constraint condition; and a robot control unit that moves the robot system disposed in a real work space from the start point to the end point on the basis of the path found in the search space.

This robot programming device comprises: a three-dimensional model disposition unit that disposes a robot model, a tool model, and a workpiece model in a virtual space; a coordinate system disposition unit that disposes, on a surface designated on the workpiece model, a coordinate system having a vector perpendicular to said surface as a coordinate axis component; an information designation unit that designates geometric information of a trajectory of a prescribed shape with reference to the coordinate system, the number of teaching points, and a movement condition; and a teaching point generation unit that, on the basis of the geometric information, the number of teaching points, and the movement condition that have been set, generates teaching points of a robot program that causes the tool model to move along the trajectory of the prescribed shape.

When a change in teaching point conditions causes a movement command to interfere with the robot's operation, the system notifies the user of the movement command, reducing the time required to verify the movement command. [Solution] The information processing method of the present disclosure is characterized by performing an acquisition step of acquiring an operation command relating to a teaching point whose conditions have been changed when the conditions of the teaching point in the operation of the robot are changed, and a notification step of notifying the user of the operation command that is in a predetermined state among the operation commands acquired in the acquisition step. It is characterized by the following.

To improve the convenience of an icon programming function.SOLUTION: A robot teaching device generates an operation program of a robot by arranging command icons representing operation commands of the robot. A processor of the robot teaching device displays at least one of an execution start line displayed on the command icon according to an execution state of the operation program and a mark for associating an identifier of position data of the command icon.SELECTED DRAWING: Figure 17A