226results about "Recording and playback systems" patented technology

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 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.

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.

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.

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.

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.

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.

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

The present invention generates, from among paths that exist for a task to assemble target objects together, an operation path that can be executed at high speed without a probing operation. An acquisition section 32, for an operation to assemble a main target object 90A gripped by a gripping section of a robot 42 together with an auxiliary target object 90B that is an assembly target, acquires a start position and orientation, and an end position and orientation, of the gripping section relative to the main target object 90A, and acquires environment information. Based on the acquired information, a simulation section 34 performs a simulation of a transition of contact states between the main target object 90A and the auxiliary target object 90B, from a contact state until there is a non-contact state. Based on the acquired information and on the simulated transition of contact states, a generation section 36 generates an operation path of the robot to reach a goal state from an initial state until reaching one or another contact state included in the transition of contact states, along a transition of contact states including the one or the other of the contact states.

The invention provides a numerical controller and a numerical control system which enable a user of a machine tool to easily set load information. A numerical controller that controls a robot via a robot control device using a numerical control program includes: a teaching operation method selection unit that accepts a selection by a user from among a plurality of teaching operation methods for performing a teaching operation on the robot; the plurality of teaching operation methods include at least a direct teaching operation method for moving an axis of the robot in accordance with an external force applied to the robot.

The robot can be easily operated exactly as the operator envisions. [Solution] The robot system comprises: a display control unit that displays image data on a screen, which is imaged by an imaging unit and includes at least the work object that the industrial robot will work on; an acquisition unit that acquires at least 3D data corresponding to the work object; a linking unit that links the image data and the 3D data as data in the user coordinate system; a designation acceptance unit that accepts the designation of the target position to which the industrial robot's work tool unit will move on the screen; a coordinate transformation unit that converts the target position in the user coordinate system to the target position in the robot coordinate system with a specific point on the industrial robot as the origin; a trajectory calculation unit that calculates the trajectory from the current position of the work tool unit to the target position; and an operation control unit that moves the work tool unit to the target position according to the calculated trajectory.

The robot can be easily operated exactly as the operator envisions. [Solution] The robot system comprises: a display control unit that displays image data on a screen, which is imaged by an imaging unit and includes at least the work object that the industrial robot will work on; an acquisition unit that acquires at least 3D data corresponding to the work object; a linking unit that links the image data and the 3D data as data in the user coordinate system; a designation acceptance unit that accepts the designation of the target position to which the industrial robot's work tool unit will move on the screen; a coordinate transformation unit that converts the target position in the user coordinate system to the target position in the robot coordinate system with a specific point on the industrial robot as the origin; a trajectory calculation unit that calculates the trajectory from the current position of the work tool unit to the target position; and an operation control unit that moves the work tool unit to the target position according to the calculated trajectory.

A robot teaching method includes a pre-registration process, a robot movement process, and a teaching process. In the pre-registration process, a relative self-position of a measuring device (31) with respect to a surrounding environment is determined by measuring the surrounding environment with the measuring device (31), and a teaching point of a robot (10) determined using the relative self-position of the measuring device (31) with respect to the surrounding environment, i.e., an environmental teaching point, is registered. In the robot movement process, the robot (10) is automatically moved so as to make the relative self-position of the robot (10) with respect to the surrounding environment coincide with the environmental teaching point, based on a measurement result of the surrounding environment measured by the measuring device (31), in a state where the robot (10) is equipped with the measuring device (31). In the teaching process, a detection value of a position and a posture of the robot (10) detected by an internal sensor (12) is registered as teaching information in a state where the relative self-position of the robot (10) with respect to the surrounding environment coincides with the environmental teaching point.

Provided is an operation device (10) for an industrial machine, said operation device (10) comprising: a housing (30) that has a rear surface and that defines therein an accommodation space (31); a control board (20) that is disposed in the accommodation space (31); and a connector (24) that is mounted on a mounting surface (22) of the control board (20), wherein the rear surface of the housing (30) is provided with a recess (50a) that is recessed further in the thickness direction of the housing (30) than the surroundings thereof, and at an inner surface of the recess (50a), the connection direction of the connector (24) is inclined diagonally outward with respect to a plane orthogonal to the thickness direction and a connection port (25) of the connector (24) can be exposed to the outside.

A control device (40) comprising: a detection result acquisition unit (161) which acquires first information corresponding to a detection result obtained through detecting, by means of a visual sensor, the relative positional relationship between a robot (30) and an object; a coordinate system data output unit (162) which, on the basis of the first information, outputs first coordinate system data as data representing a coordinate system that serve as the basis when operating the robot; and a command generation unit (163) which generates a command for the robot on the basis of the first coordinate system represented by the first coordinate system data.

During a manufacture method, a component (60) is scanned using a CT machine (126). The component (60) includes a first member (74) and a second member (76). The first member (74) includes a first member aperture (116) extending through the first member (74) to the second member (76). Aperture data is determined for the first member aperture (116) based on scan data. A centerline vector (132) is determined for the first member aperture (116). The determining of the centerline vector (132) includes fitting a geometric primitive (134) to the aperture data to describe at least a portion of the scanned outer perimeter geometry of the first member aperture (116). The centerline vector (132) for the first member aperture (116) is determined based on a centerline vector (132) of the geometric primitive (134) and / or a center point of the geometric primitive (134). A point of intersection (136) between the centerline vector (132) and a reference plane (138) is determined. A second member aperture (118) is formed in the second member (76) according to a formation operation.

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.

Task teaching method performed by a task teaching device (1) to teach a robot (12) a task, the robot comprising a gripper unit (620) configured to grasp a target object (310, 320), and moving the target object (310, 320) grasped by the gripper unit (620), wherein the task teaching method comprises: a first step (S701) to prepare a marker (12m) of a coordinate system (2100) in a task environment (10); a second step to output (S901) first time series data (104) regarding a position and attitude of the grasping target object (310, 320) when a teacher (11) grasps and moves the grasping target object (310, 320) in the task environment, and generate (S902) first teaching data (106) regarding an operation of the robot (12) corresponding to the first time series data (104); a third step to move the robot (12) to the task environment after the second step (S901, S902); a fourth step (S702) to output second time series data (105) regarding a position and attitude of the gripping target object (310, 320) or the gripper unit (620) when the robot (12) is operated using the first training data (106) before an actual task is performed by the robot (12), and after the third step; and a fifth step to generate second training data regarding the operation of the robot (12), which correspond to a difference between the first time series data (104) and the second time series data (105), wherein the first time series data (104), the second time series data (105), the first training data (106) and the second training data are generated on the basis of the coordinate system (2100), and The third step involves making the robot (12) measure the marker (12m) of the coordinate system (2100) and recognize the coordinate system.

Offline teaching device (1) comprising at least one processor (2, 3, 4, 5) wherein the processor (2, 3, 4, 5): as a result of a motion program comprising several input teaching points, numerous interpolation points are generated on a motion route of a distal tool endpoint of a robot (100), the motion route being formed under the teaching points according to the motion program; Coordinates of at least one joint point of the robot are calculated when the distal tool endpoint is positioned at each of the interpolation points; and detects whether a disturbance occurs between each of the generated interpolation points and the calculated joint point and a peripheral device.

To provide an application apparatus and the like suitable to realize highly accurate coating processing by utilizing such a situation that an application object is installed on a stage.SOLUTION: An application apparatus comprises: a scanning processing unit which obtains shape data of specifying the shape of an application object by performing scanning processing on the application object installed on a stage; a locus generation unit which generates work data for generating a locus for applying a coating material to the application object by using mesh data obtained from the shape data; and a coating unit which applies the coating material to the application object by using the work data. The locus generation unit generates the locus with the shape in which a mesh including at least a portion of an edge is deleted after smoothing of the shape obtained by the scanning processing.SELECTED DRAWING: Figure 1

An external input device is employed, the external input device being configured to operate a robot system including an imaging apparatus capable of changing an imaging point of view and a robot apparatus, the external input device includes a display area, a robot apparatus operation unit configured to operate the robot apparatus, an imaging operation unit configured to operate the imaging apparatus, and an image display unit configured to display an image captured by the imaging apparatus, wherein the robot apparatus operation unit, the imaging operation unit, and the image display unit are displayed on the display area, and wherein the image display unit is disposed between the robot apparatus operation unit and the imaging operation unit.

The present application relates to a teaching support method, a teaching support device, and a teaching support program, capable of optimizing a posture of a robot arm at a motion start point. The teaching support method performs the following steps: acquiring a motion of a robot arm having at least one joint and a motion start point at which the motion is started; calculating a plurality of candidates of a posture of the robot arm at the acquired motion start point; calculating, for each of the calculated plurality of candidates, a rotation state of the joint when the robot arm is moved from the motion start point according to the motion; and notifying a result of the calculation.

This robot programming device comprises: a three-dimensional model arrangement unit which arranges, in a virtual space, a robot model, a tool model, and a workpiece model; a change range extraction unit which extracts, as a change range, a range in which a degree of change in orientation satisfies a predetermined condition, said degree of change in orientation being of at least one among a direction vector indicating a direction of a work path specified in the workpiece model and a normal vector of a surface containing said work path; and a setting application unit which, in relation to the extracted change range, applies, as a setting related to conditions for generating teaching points of a robot program, a setting which differs from a setting to be applied for a range outside of the change range of the work path.

A robot program in which a large number of interlock settings are made to prevent all interference including interference during non-steady operation is generally complicated in description, and readability is reduced.SOLUTION: A control program creation device comprising a processor and a storage unit, wherein the processor specifies a plurality of interference areas including one or more sets of postures in which a first robot and a second robot interfere with each other, and specifies a third interference area that is a continuous area including a first interference area, a second interference area different from the first interference area, and at least one set of postures not included in any of the plurality of interference areas among the plurality of interference areas, A control program including a command for avoiding the set of postures corresponding to the third interference area is created as a control program for the first robot and the second robot.SELECTED DRAWING: Figure 1

The welding system comprises a welding robot provided with a welding torch and a device for creating a control program of the welding robot, and the device for creating the control program of the welding robot executes the following operations: acquiring position information and posture information of a welding starting point and a welding ending point of a welding operation on a workpiece, the posture of the welding torch at a welding teaching point located on the welding line connecting the welding starting point and the welding ending point can be specified relative to the welding line through the posture information; and creating a control program of the welding robot based on the position information and the posture information for implementing a welding operation between the welding start point and the welding end point, and the welding robot performing the welding operation based on the control program of the welding robot.

A conversion device 1 includes: an acquisition unit 21 configured to sequentially acquire feature vectors for a biological signal; a unit attribute update unit 22 configured to specify a unit associated with a representative value approximating a new feature vector, and update a representative value and energy of the specified unit; a unit update unit 23 configured to, when a plurality of feature vectors outside a predetermined range of a representative value of a unit of the unit data are acquired within a predetermined time, add data for a new unit identifier to unit data 12; a class update unit 24 configured to, when there is no class including a unit having energy within a predetermined range of energy of the new unit, add data for a new class identifier to class data 13; and a motion update unit 25 configured to update motion data 14 by associating, with an identifier of a class acquired after updating the class data 13, an identifier of a motion corresponding to the class.

[Problem] To improve the efficiency of production of a product by a processing machine. [Solution] This processing system includes: a generation unit that generates an intermediate program in which an operation of a robot is described; a conversion unit that converts the intermediate program generated by the generation unit into a robot program for operating the robot; an acquisition unit that, when the robot is operated on the basis of the robot program, acquires a corrected value corrected by manipulation of a teaching terminal for at least one of position information and posture information on the robot at a movement destination thereof; a reflection unit that reflects the acquired corrected value in the intermediate program generated by the generation unit; and an update unit that updates the intermediate program in which the corrected value has been reflected. The conversion unit converts, into a new robot program, the new intermediate program in which the correction value has been reflected by the reflection unit and which has been updated by the update unit.