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Robot teaching by human demonstration

A robot and robot motion technology, applied in the field of robot teaching demonstrated by humans, can solve the problems of expensive motion capture system, difficult position accuracy, time-consuming and so on

Pending Publication Date: 2021-10-12
FANUC LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this type of motion capture system is expensive, and it is difficult and time consuming to set up and configure precisely so that the recorded positions are accurate

Method used

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  • Robot teaching by human demonstration
  • Robot teaching by human demonstration
  • Robot teaching by human demonstration

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Embodiment Construction

[0018] The following discussion of embodiments of the present disclosure involving teaching a robot through human demonstrations using a single camera is merely exemplary in nature and is in no way intended to limit the disclosed devices and techniques or their application or uses.

[0019] The use of industrial robots for various manufacturing, assembly and material movement operations is well known. One known type of robotic operation is sometimes referred to as "pick, move, and place," in which a robot picks up a part or workpiece from a first location, moves the part, and places it at a second location. The first location is usually a conveyor belt where randomly oriented parts are flowing, such as parts just removed from a mold. The second location could be another conveyor leading to a different operation, or it could be a shipping container, but in either case the part needs to be placed at a specific location and oriented in a specific posture at the second location. ...

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Abstract

A method for teaching a robot to perform an operation based on human demonstration with images from a camera. The method includes a teaching phase where a 2D or 3D camera detects a human hand grasping and moving a workpiece, and images of the hand and workpiece are analyzed to determine a robot gripper pose and positions which equate to the pose and positions of the hand and corresponding pose and positions of the workpiece. Robot programming commands are then generated from the computed gripper pose and position relative to the workpiece pose and position. In a replay phase, the camera identifies workpiece pose and position, and the programming commands cause the robot to move the gripper to pick, move and place the workpiece as demonstrated. A teleoperation mode is also disclosed, where camera images of a human hand are used to control movement of the robot in real time.

Description

technical field [0001] The present invention relates to the field of industrial robot programming, and more particularly to a method for programming a robot to perform workpiece picking, moving and placing operations, including a teach-in phase in which a single camera detects a human hand grasping and moving a workpiece, A gripper pose equivalent to that of a human hand is determined, and robot programming commands are generated from the calculated gripper pose. Background technique [0002] The use of industrial robots to repeatedly perform a wide variety of manufacturing, assembly and material movement operations is well known. However, using traditional methods to teach a robot to perform even fairly simple operations—such as picking a workpiece in a random position and orientation on a conveyor and moving the workpiece to a container or a second conveyor—is non-intuitive, time-consuming, and / or expensive . [0003] Traditionally, a human operator uses a teach pendant ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00G09B25/02
CPCB25J9/0081G09B25/02B25J9/163B25J9/1612B25J9/1656G05B2219/40116G05B2219/39546G05B2219/40532B25J9/1697B25J9/1664
Inventor 王凯濛加藤哲朗
Owner FANUC LTD
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