482results about "Recording and playback systems" patented technology

Systems, methods, and computer program code for controlling a robot that is interacting with an environment to perform a particular task The technique involves generating a 2D trajectory image representing a 2D trajectory sketch. The 2D trajectory sketch indicates a desired trajectory for a part of the robot, e.g. an end effector, when performing the task. A neural network system uses the 2D trajectory image as deliberately underspecified guidance for how to perform the task. Techniques for training the neural network system are also described.

A method of programming an industrial robot (100), with a robot manipulator (110) and robot controller (120), comprises: recording movements of the robot manipulator during a demonstration-based robot programming session, for thereby obtaining a robot trajectory; acquiring a video of the robot programming session; and generating, on the basis of the robot trajectory and the video, a robot program (C) executable by the robot controller, wherein the robot program includes at least one motion command which is expressed in a first reference frame (0 1). The method further comprises capturing operator input data indicating a first object (151) in an image in the video. The generated robot program includes a command to identify a position of an object resembling the first object in a work area (150) of a robot which executes the robot program; and the first reference frame is defined with respect to the identified position of the object resembling the first object.

Provided is a technique that allows even a person without knowledge on robots to intuitively and efficiently teach a work motion a robot by a work demonstration while maintaining a normal human motion as much as possible, and that can reduce the man-hours for pre-adjustment of teaching, facilitate the introduction, etc. A robot teaching method is a method for performing teaching for generating a motion of a robotic hand mechanism corresponding to a work motion including an operation on an operation object by a hand of a teacher based on measurement of a work motion, and includes, as steps performed by a computer system: a step of acquiring a first measured pose obtained by measuring a pose of the operation object and a second measured pose obtained by measuring a pose of the hand of the teacher during the work motion; a step of detecting the operation on the operation object by the teacher; and a step of generating a teaching pose for generating the robotic motion data based on the first measured pose, the second measured pose, and the detected operation.

A computer-implemented method is for generating reference data for use in a manufacturing and / or assembly process. The method may include, as a method step, obtaining a digital model of a workpiece. Herein, the digital model may be, in particular, a 3D model. The digital model may also be, in particular, a CAD model. The workpiece may be, in particular, an assembled workpiece. In another step, the method may include obtaining video data of the manufacturing and / or assembly process of the workpiece. Furthermore, the method may include generating a digital flowchart of the manufacturing and / or assembly process based at least in part on the digital model and the video data.

Provided are a robot control method and apparatus, an electronic device, a storage medium, and a program product. The method includes: acquiring state data configured for indicating a current motion state of a robot, and acquiring environmental data configured for indicating an environment where the robot is currently located; predicting, based on the state data, an initial action parameter configured for controlling the robot to imitate an object action of a target object; predicting, based on the environmental data, an environmental impact parameter configured for representing impact generated by the environment on imitation of the object action by the robot; fusing the initial action parameter and the environmental impact parameter to obtain a fused action parameter of the robot; and generating a control instruction based on the fused action parameter, the control instruction being configured for controlling the robot to perform a target action indicated by the fused action parameter.

A method of programming an industrial robot, comprising: recording movements of a robot manipulator during a demonstration-based programming session, to obtain a robot trajectory (301); using a natural-language model (171), parsing speech data describing the programming session into at least one robot parameter (305) value and annotating the robot trajectory with the robot parameter value; and, on the basis of the annotated robot trajectory (306), generating a robot program (307). The method further comprises: capturing a video (302) of the programming session; using a vision-enabled language model, VLM (172), generating descriptions (303) of movements of the robot manipulator which are visible in the video; and generating said speech data (304) on the basis of the descriptions of the robot manipulator movements.

A robot control device configured such that a storage unit stores a parameter defining a predetermined area near a singular point of a robot. In the robot control device, a processor receives a first teaching point and a second teaching point for robot operation and a type of interpolation between the teaching points, and automatically uses multi-axis interpolation operation different from linear interpolation for at least a part of interpolation operation between the first teaching point and the second teaching point when the type of interpolation is the linear interpolation and also when there is a teaching in which a predetermined position of a distal end of the second arm passes through the predetermined area during movement of the robot under the linear interpolation from the first teaching point to the second teaching point and therefore the teaching is subject to a change.

Embodiments of the present disclosure are directed to methods, computer program products, and computer systems of a robotic apparatus with robotic instructions replicating a food preparation recipe. In one embodiment, a robotic control platform, comprises one or more sensors; a mechanical robotic structure including one or more end effectors, and one or more robotic arms; an electronic library database of minimanipulations; a robotic planning module configured for real-time planning and adjustment based at least in part on the sensor data received from the one or more sensors in an electronic multi-stage process file, the electronic multi-stage process recipe file including a sequence of minimanipulations and associated timing data; a robotic interpreter module configured for reading the minimanipulation steps from the minimanipulation library and converting to a machine code; and a robotic execution module configured for executing the minimanipulation steps by the robotic platform to accomplish a functional result.

Provided is a programming device capable of reducing the load of an operator that creates a control program including a command corresponding to a function of an imaging device. Provided is a programming device for programming industrial machinery, the programming device including: a command generation unit that acquires information regarding an imaging device connected to a control device of the industrial machinery and that, on the basis of the acquired information, generates an icon or command statement expressing a command using an image acquired by the imaging device; and a command display unit that displays the generated icon or command statement on a display screen.

A robot teaching system includes: a photographing unit that photographs an image including a welding target and a marker installed on an industrial robot; a camera coordinate system setting unit that sets a camera coordinate system on a basis of the marker included in the image; an operation path setting unit that sets an operation path of the industrial robot on a basis of a welding position of the welding target included in the image in the camera coordinate system; and a program generation unit that generates a working program, while converting the set operation path from the camera coordinate system into a robot coordinate system set in a robot control apparatus on a basis of a position of the marker installed on the industrial robot. The robot teaching system generates a working program allowing appropriate welding at a welding position.

The present disclosure addresses the problem of keeping a maximum trajectory error and a takt time within allowable ranges desired by a user. This trajectory determination system (1) comprises an acquisition unit (131) and a determination unit (134). The acquisition unit (131) acquires control information pertaining to a control target (30). The determination unit (134) determines a target trajectory for the control target (30) on the basis of trajectory characteristics of the control target (30), the trajectory characteristics being obtained on the basis of the control information and indicating the relationship between the maximum trajectory error that is allowed as an error in the trajectory of the control target (30) and the takt time for the control target (30).

An information processing device obtains information to control a robot to perform an operation of transferring an operation target object in a source area to a destination area. The information processing device includes a display and an inputter that receives a user input. When the display displays a first detection result of detecting at least one candidate target area including a candidate for the destination area and a second detection result of detecting at least one candidate object including a candidate for the operation target object in a work environment of the robot, the inputter receives a destination input specifying the destination area from the at least one candidate target area.

A data logger comprising a sensor interface for connecting at least one sensor or actuator to the data logger; an accessible memory (SD card) for storing data received from said at least one sensor or actuator; and a controller for controlling operation of the data logger wherein said data logger comprises a plurality of modules, each module having a housing electrically and mechanically connectable to a housing of an adjacent module; and wherein at least one module comprises the sensor interface and acts as a logging and / or actuation module (LAM) including at least a portion of said accessible memory (SD card); and at least one module connected to said at least one LAM acts as a control and communications module (CCM) and comprises the controller that controls communications within and external to the data logger.

A computer-implemented method executed by data processing hardware of a robot causes the data processing hardware to perform operations. The robot includes an articulated arm having an end effector engaged with a constrained object. The operations include receiving a measured task parameter set for the end effector. The measured task parameter set includes position parameters defining a position of the end effector. The operations further include determining, using the measured task parameter set, at least one axis of freedom and at least one constrained axis for the end effector within a workspace. The operations also include assigning a first impedance value to the end effector along the at least one axis of freedom and assigning a second impedance value to the end effector along the at least one constrained axis. The operations include instructing the articulated arm to move the end effector along the at least one axis of freedom.

The invention relates to the technical field of computer graphic processing, and discloses a method for automatically drawing a DCS (Distributed Control System) picture into a real-time database picture, which comprises the following steps of: firstly, identifying a DCS source file format, directly analyzing a public text format or intercepting a bottom layer rendering instruction for a private binary format, and extracting standardized discrete data; constructing an intermediate vector model, and performing coordinate normalization and curve smoothing processing on the static primitives by using an affine transformation matrix; meanwhile, syntactic analysis is conducted on the control script to construct an abstract syntax tree, and dynamic logic is converted; then recombining a composite object based on spatial semantics, and repairing pipeline topology connection by utilizing automatic adsorption and an orthogonal routing algorithm; and finally, calling a target system interface to complete object instantiation and persistent storage. According to the invention, the automatic high-fidelity migration of the DCS picture to the real-time database is realized, the labor cost is reduced, and the consistency and accuracy of the monitoring picture are ensured.

The present disclosure is directed to methods, computer program products, and computer systems for instructing a robot to prepare a food dish by replacing the human chef's movements and actions. Monitoring a human chef is carried out in an instrumented application-specific setting, a standardized robotic kitchen in this instance, and involves using sensors and computers to watch, monitor, record and interpret the motions and actions of the human chef, in order to develop a robot-executable set of commands robust to variations and changes in the environment, capable of allowing a robotic or automated system in a robotic kitchen to prepare the same dish to the standards and quality as the dish prepared by the human chef.

The welding system includes a welding robot provided with a welding torch and a device for creating a control program for the welding robot, wherein the device for creating the control program for the welding robot performs the following operations: obtaining position information of a welding start point and a welding end point of a welding operation on a workpiece, and posture information, by which the posture information can be used to specify the posture of the welding torch at a welding teaching point on a welding line connecting the welding start point and the welding end point relative to the welding line; and creating a control program for the welding robot based on the position information and the posture information, for realizing a welding operation between the welding start point and the welding end point, and the welding robot performs the welding operation based on the control program of the welding robot.

Provided is a teaching device whereby it is possible to avoid twisting a fiber connected to a galvano scanner beyond an allowable range. A teaching device for teaching a robot in a laser machining system, wherein the teaching device includes a path determination unit for determining a motion path for a robot on the basis the positions of a plurality of machining points set on an object; a simulation execution unit for executing a robot motion simulation in accordance with the determined motion path; a torsion amount evaluation unit for ascertaining the amount of torsion of an optical fiber by simulating the behavior of the optical fiber in accordance with the movement of the robot according to the motion simulation, and evaluating the torsion amount by comparing the torsion amount and a prescribed allowable range; and a robot orientation changing unit for changing the orientation of the robot so as to reduce the torsion amount for motion of the robot in which the torsion amount exceeds the prescribed allowable range.

This offline teaching device comprises: an input unit capable of receiving an operator operation; an acquisition unit that acquires position information pertaining to a weld line of a workpiece and the scan range of a sensor for scanning the external shape of the workpiece; a generation unit that generates a three-dimensional region to be scanned by the sensor on the basis of the position information pertaining to the weld line and the scan range; and a control unit that generates and outputs an assistance screen image in which the weld line and the three-dimensional region are disposed in a virtual space, and that creates and outputs, on the basis of the operator operation, a teaching program for causing a robot that drives the sensor to scan the three-dimensional region shown in the assistance screen image.

A transport facility is provided with a plurality of transport vehicles and a control system. When using two transport vehicles to transport a target article from a transport start point to a transport destination via a transfer device, the control system updates an arrival prediction time at which the target article is received to the transfer device on the basis of a confirmation point passing time at which the target article passes the confirmation point. The second transport vehicle is deployed to the receiving position in conjunction with the updated predicted time.

An information processing device obtains information to control a robot to perform an operation of transferring an operation target object in a source area to a destination area. The information processing device includes a display and an inputter that receives a user input. When the display displays a first detection result of detecting at least one candidate target area including a candidate for the destination area and a second detection result of detecting at least one candidate object including a candidate for the operation target object in a work environment of the robot, the inputter receives a destination input specifying the destination area from the at least one candidate target area.

In some situations a robot is caused to repeatedly execute scraping to form a plurality of recessed portions on a surface of a workpiece. There is a demand for a technique for more simply building a robot system capable of executing such scraping.　A device 60 for determining the positions of a plurality of recessed portions to be formed on a surface of a workpiece by means of scraping, in which a robot 12 uses a scraper to shave the surface of the workpiece to make the same flat, is provided with: an input accepting unit 54 for accepting input of shape information of the surface and pattern information of the plurality of recessed portions on the surface; and a position determining unit 56 for automatically determining the position of each recessed portion on the surface on the basis of the shape information and the pattern information accepted by the input accepting unit 54.

Methods and systems for improving control of a robotic arm (114, 600) are presented. The methods include pre-defining a plurality of meta-actions (120, 200, 210, 508), which can include one or more pre-conditions (122, 202, 204, 212, 214, 216, 504) and effects (124, 222, 224, 226, 228, 506). A target state of a plurality of workpieces (108, 304, 306, 308, 310) can be determined, as well as an initial state of the plurality of workpieces (108, 304, 306, 308, 310). A series of operations (206, 208, 217, 218, 220) can be generated from the pre-conditions (122, 202, 204, 212, 214, 216, 504) and / or effects (124, 222, 224, 226, 228, 506) of the meta-actions (120, 200, 210, 508), as well as the target state and the initial state. Executing the series of operations (206, 208, 217, 218, 220) is capable of changing the plurality of workpieces (108, 304, 306, 308, 310) from the initial state to the target state.

Robot system (1), comprising: an articulated robot (2) equipped with a tool that performs work on a workpiece (W), the tool being attached to a wrist axis (10) at the distal end with an operating range of 360° or more; a sensor (3) which detects a position and an orientation of the workpiece (W); and a controller (4) configured to control the robot (2) based on an operating program, where the operating program has two or more learning points, each defining a position and an orientation of the tool, and an operating instruction for moving each joint between the teach-in points in a direction in which a rotational amount thereof is minimized, and wherein the controller (4) is configured to: correct the position and orientation of the tool at a first teach-in point at which work is to be performed on the workpiece (W) based on the position or orientation of the workpiece (W) detected by the sensor (3); to determine whether an angle of the wrist axis (10) at the distal end at the first teach-in point, which is calculated based on the position and orientation of the tool after the correction, exceeds an operating limit; and if it is determined that the operating limit is exceeded, by increasing or decreasing the angle by 360°, the angle of the wrist axis (10) at the distal end at each of the first teach-in point and one or several other teach-in points besides the first teach-in point to an angle within the operating range.

The acquisition unit (32) acquires specification information of a robot that is a constituent element of a robot cell system, component information including shape information of a component other than the robot that is a constituent element of the robot cell system, and work information related to work performed by the robot, the configuration planning unit (34) calculates a candidate for configuration of the robot and the component in the robot cell system based on the specification information, the component information, and the work information, the posture planning unit (36) calculates a set of combinations of a start posture of a start point and an end posture of an end point of each motion of the robot for each candidate for configuration, the path planning unit (38) calculates a set of paths from the start posture to the end posture for each combination of the start posture and the end posture for each candidate for configuration, and the evaluation unit (40) selects an optimal configuration from the candidates for configuration based on the paths.

This control device 1Y primarily has an operation planning means 17Y, a display controlling means 15Y, and a correction receiving means 16Y. The operation planning means 17Y determines an operation plan of a robot that executes a task using an object. The display controlling means 15Y displays track information relating to the track of the object based on the operation plan. The correction receiving means 16Y receives corrections relating to the track information based on external input. The operation planning means 17Y determines a second operation plan of the robot on the basis of the corrections received by the correction receiving means 16Y.

Robot programming device (10) designed for teaching a robot program by arranging a robot model equipped with a tool model, a workpiece model and a peripheral device model in a virtual space representing a workspace three-dimensionally and displaying them on a screen, wherein the device (10) comprises the following: a robot model motion part (14) designed to move a predetermined movable part of the robot model from a first position to a second position according to a learning content; an arm reversal detection element (21) designed to detect whether an axis contained in the robot model is in a predetermined state in which the axis is rotated by 180° ± a first predetermined value of a reference rotation angle when the predetermined movable part of the robot model is moved to the second position; and an arm reversal correction judgment (23) designed to correct an orientation of the robot model, wherein the predetermined movable part of the robot model is in the second position such that the axis is no longer in the predetermined state when it is detected that an axis contained in the robot model is in the predetermined state, the correction of the robot model's orientation at the second position is carried out according to the following rules: (1) only one axis angle is corrected; or (2) if (1) cannot be fulfilled, the predetermined movable part is moved by parallel displacement to correct the orientation.

We will teach the mold release agent spraying robot in a simulation environment. [Solution] A control device that controls a mold release agent spraying robot that sprays a mold release agent onto an object and is connected to the mold release agent spraying robot comprises: an input unit for inputting user operations; a first simulation unit that constructs a simulation environment for operating the mold release agent spraying robot based on the operations; a teaching unit that performs teaching in the simulation environment for the mold release agent spraying robot to operate in a real environment when the operations are input; and a second simulation unit that simulates the adhesion state in the simulation environment when the mold release agent is sprayed based on the operations, and the adhesion state in which the mold release agent adheres to the object.

To provide an information processing device and the like capable of simulating robot control without exceeding a limit of a movable range of an operation in simulation of robot control of a multi-axis robot.SOLUTION: The information processing device includes a learning unit configured to generate a learning model learned by simulation in a virtual space, a storage unit configured to store robot configuration information, a reception unit configured to receive work space information for executing teaching and a work requirement set in advance for a workpiece, and a generation unit configured to generate a three dimensional model of a work space including the robot and the workpiece in the virtual space based on the robot configuration information and the work space information. And a simulation unit that outputs a result of simulating an operation of the robot satisfying the work requirements as control information of the movable range in the real space based on the learning model.SELECTED DRAWING: Figure 1

A welding condition management method is a welding condition management method performed by a terminal device, and the welding condition management method includes: acquiring a second teaching program created by correcting a first teaching program for causing a welding robot to execute welding, and welding history data related to the welding executed by using the second teaching program; and extracting and outputting a welding condition at the time of the welding based on the second teaching program and the welding history data.