351results 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.

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.

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.

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).

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.

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.

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.

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.

To support teaching work of a welding torch posture at a teaching point in teaching a welding robot operation.SOLUTION: A robot teaching system stores a three-dimensional model corresponding to at least a part of a robot or a welding torch, or a teaching member, outputs a display image for displaying the three-dimensional model and an operation screen on a display device configured to be mountable to a worker on the basis of the three-dimensional model and operation screen data and displaying an image to be superimposed on an image of an actual environment or the actual environment itself, and generates a display image for displaying the post-change three-dimensional model after changing a posture of the three-dimensional model on the basis of an aerial operation of the worker in the air separated from the display device.SELECTED DRAWING: Figure 4

To correct a taught posture to a posture more appropriate to actual welding.SOLUTION: A welding teaching system is provided with: a marker installed in a controller teaching a teaching point for welding a real world work; and an MR device mounted by a worker and imaging the marker and the real world work. The MR device acquires a posture of the controller at the teaching point on the basis of the marker, generates a virtual welding torch having the acquired posture of the controller, and displays the generated virtual welding torch on the captured image capturing the real world work so as to be superimposed on each other.SELECTED DRAWING: Figure 5

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.