Display device, display method, and robot system

Abstract

[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.

Description

Display device, display method, and robot system

[0001] The technology of the present disclosure relates to a display device, a display method, and a robot system.

[0002] Conventionally, when an operator performs direct teaching by operating a robot, information on the force of the robot and the trajectory of the robot may be saved. Subsequently, based on the saved information, the operation of the robot is reproduced. However, when the operator directly teaches the robot, the operator may not operate the robot appropriately. For example, the force applied by a person to the robot may exceed the force that the robot or the object can tolerate during reproduction.

[0003] In this regard, Patent Document 1 discloses a technique for correcting the saved information.

[0004] Japanese Patent Application Laid-Open No. 2008-134903

[0005] However, in Patent Document 1, although the saved information can be corrected, it is not known which timing part during the direct teaching is the part to be corrected.

[0006] The technology of the present disclosure aims to provide a display device, a display method, and a robot system that enable an operator to easily recognize parts that need to be corrected in information on the force of a robot and information on the trajectory.

[0007] In order to achieve the above object, a display device according to a first aspect of the technology of the present disclosure includes a display unit that displays, in correspondence, information on the force of the robot and information on the trajectory of the robot obtained as a result of the operation of the robot during teaching of the robot. The display device includes a specifying unit that specifies parts that need to be corrected based on the information on the force of the robot and the information on the trajectory, and a control unit that controls the display unit so that the specified parts are highlighted and displayed.

[0008] The second embodiment of the display method includes the display unit displaying, in correspondence, information relating to the force of the robot and information relating to the trajectory of the robot, obtained as a result of the robot's operation, during robot teaching. The display method includes the identification unit identifying parts in the robot's force information and trajectory information that require correction, and the control unit controlling the display unit so that the identified parts are highlighted.

[0009] A robot system according to a third embodiment comprises a display device according to the first embodiment and the robot.

[0010] The technology disclosed herein identifies areas requiring correction based on data related to the robot's forces and trajectory, and highlights these identified areas, making it easy for the user to recognize the areas that need correction.

[0011] Figure 1 is a block diagram of an example of a robot system 100. Figure 2 is a block diagram of an example of the electrical system of the robot system 100. Figure 3 is a diagram showing an example of the processing of the readout unit 52A, display processing unit 52B, identification unit 52C, and control unit 52D of the processor 52 of the display device 30. Figure 4 shows the process of an operator directly teaching the robot arm 10 to continuously wipe the surface 15S of a desk 15 for a certain period of time, for example, and the continuous force result data 54D1 of the robot arm 10 and the trajectory result data 54D2 of the arm part 10p4 at the tip of the robot arm 10 obtained when such direct teaching is performed. Figure 5 is a flowchart of an example of a correction location identification program 54P executed by the processor 52 of the display device 30. Figure 6 is a diagram showing an example of the screen 62D of the display 62 that displays the continuous force result data of the robot 1020. Figure 7 shows an example of the screen 62D of the display 62, which displays the continuous force playback data 102 and continuous result data 54D1 of the robot 1020 in correspondence, as well as the trajectory playback data 112 and trajectory result data 54D2 of the robot 1020 in correspondence. Figure 8 shows an example of the screen 62D of the display 62, which displays information for the user to specify whether to prioritize the continuous force result data 54D1 of the robot 1020 or the trajectory result data 54D2 of the robot 1020. Figure 9 shows an example of the screen 62D of the display 62, which displays the continuous force result data 54D1 and the trajectory result data 54D2 of the robot 1020, along with information indicating what kind of operation the robot arm 10 performed.

[0012] [Embodiments] Hereinafter, embodiments of the technology of this disclosure will be described with reference to the drawings.

[0013] [First Embodiment] (Configuration) The configuration of the robot system 100 of this embodiment will be described. Figure 1 is a block diagram of an example of the robot system 100. As shown in Figure 1, the robot system 100 comprises a robot 1020 and a display device 30. The robot 1020 comprises a robot arm 10 and a robot controller 20. The robot arm 10 comprises arm sections 10p1 to 10p4 connected by a plurality of joints J11 to J13.

[0014] Figure 2 is a block diagram of an example of the electrical system of the robot system 100. As shown in Figure 2, each joint J11 to J13 of the robot arm 10 is equipped with a motor 22, an encoder 24, and a torque sensor 26. The robot controller 20 is composed of a computer. The robot controller 20 includes a processor 52, an NVM (Non-volatile memory) 54, a RAM (Random Access Memory) 56, and an input / output (I / O) port 58. The processor 52, NVM 54, RAM 56, and input / output (I / O) port 58 are interconnected by a bus 60. The motors 22, encoders 24, and torque sensors 26 of each joint J11 to J13 of the robot arm 10 are connected to the input / output (I / O) port 58. Alternatively, instead of providing the torque sensor 26, the torque may be estimated from the current of the motor 22, or the torque may be calculated by sensing the force with a force sensor provided on the arm portion 10p4 (end-effector) at the tip of the robot arm 10. Therefore, the torque sensor 26 is not essential.

[0015] The display device 30 includes a computer 35 with a configuration similar to that of the robot controller 20. The display 62 is connected to the input / output (I / O) port 58 of the computer 35.

[0016] The input / output (I / O) port 58 of the robot controller 20 and the input / output (I / O) port 58 of the display device 30 are connected to each other.

[0017] The processor 52 is a processing unit that includes a DSP (Digital Signal Processor), a CPU (Central Processing Unit), and a GPU (Graphics Processing Unit). The DSP and GPU operate under the control of the CPU and are responsible for executing the processes described later. Here, a processing unit including a DSP, CPU, and GPU is given as an example of the processor 52, but this is merely an example. The processor 52 may be one or more CPUs and DSPs with integrated GPU functionality, or one or more CPUs and DSPs without integrated GPU functionality, or it may be equipped with a TPU (Tensor Processing Unit).

[0018] NVM54 is a non-volatile memory device that stores programs and various parameters. Examples of NVM54 include flash memory (e.g., EEPROM (Electrically Erasable and Programmable Read Only Memory)).

[0019] RAM 56 is a memory that temporarily stores information and is used as work memory by the processor 52. Examples of RAM 56 include DRAM (Dynamic Random Access Memory) or SRAM (Static Random Access Memory).

[0020] The NVM 54 of the display device 30 stores continuous force result data 54D1 and trajectory result data 54D2 of the robot 1020, which are obtained as a result of the robot 1020 operating while being continuously taught for a certain period of time. The NVM 54 also stores a correction location identification program 54P, a force threshold 54T1, and a trajectory threshold 54T2.

[0021] When the modification location identification program 54P is read into RAM 56 and executed by the processor 52 of the display device 30, the processor 52 functions as a read unit 52A, a display processing unit 52B, a identification unit 52C, and a control unit 52D.

[0022] Figure 3 shows an example of the processing of the readout unit 52A, display processing unit 52B, identification unit 52C, and control unit 52D of the processor 52 of the display device 30. As shown in Figure 3, the readout unit 52A receives continuous force result data 54D1 of the robot 1020 and trajectory result data 54D2 of the robot 1020 from the NVM 54 of the robot controller 20.

[0023] The display processing unit 52B displays the continuous force result data 54D1 of the robot 1020 and the trajectory result data 54D2 of the robot 1020 on the display 62.

[0024] The identification unit 52C identifies the parts of the robot 1020's continuous force result data 54D1 that need correction, based on the force threshold 54T1 and the continuous force result data 54D1 of the robot 1020 read from the NVM 54 of the robot controller 20. The identification unit 52C also identifies the parts of the robot 1020's trajectory result data 54D2 that need correction, based on the trajectory threshold 54T2 and the trajectory result data 54D2 of the robot 1020 read from the NVM 54 of the robot controller 20.

[0025] The control unit 52D controls the display 62 so that the identified area is highlighted.

[0026] (Function) Next, the function of this embodiment will be explained.

[0027] Figure 4 shows how an operator directly teaches a robot arm 10 to continuously wipe the surface 15S of a desk 15 for a certain period of time, for example, by operating the robot arm 10, and the continuous force result data 54D1 of the robot arm 10 and the trajectory result data 54D2 of the arm portion 10p4 at the tip of the robot arm 10 obtained when such direct teaching is performed. Here, direct teaching is when an operator applies an external force and uses that external force to operate and teach the robot 1020. For example, this can include a method in which a person applies force to teach one robot, or it can include a master robot where one master robot is operated to teach the other slave robot, as in a master-slave robot system.

[0028] The continuous force result data 54D1 of the robot arm 10 is calculated from the values ​​of the torque sensors 26 at each joint J11 to J13. The trajectory result data 54D2 of the arm portion 10p4 at the tip of the robot arm 10 is calculated from the values ​​from the encoders 24 provided in correspondence with the motors 22 at each joint J11 to J13 of the robot arm 10.

[0029] "Continuous force result data 54D1" is an example of "information relating to force" in the technology disclosed herein. Alternatively, the values ​​(torque) of the torque sensors 26 at each joint may be used as force-related data instead of the continuous force result data. "Trajectory result data 54D2" is an example of "information relating to trajectory" in the technology disclosed herein. The trajectory result data is not limited to the trajectory of the arm at the tip, but may also be the angles of each joint of the robot.

[0030] The continuous force result data 54D1 of the robot arm 10 and the trajectory result data 54D2 of the arm portion 10p4 at the tip of the robot arm 10, obtained when the above direct teaching is performed, are output from the robot controller 20 and stored in the NVM 54 of the display device 30.

[0031] Subsequently, the robot 1020's movements are replayed based on the saved information.

[0032] However, when an operator directly teaches the robot arm 10, there are cases where the operator does not operate the robot arm 10 properly. For example, the force applied by the operator to the robot arm 10 may not be sufficient to wipe the surface 15S of the desk 15. Therefore, it is necessary to correct the saved information.

[0033] Figure 5 is a flowchart of an example of a correction location identification program 54P executed by the processor 52 of the display device 30. The correction location identification program 54P starts when a start button (not shown) is operated. When the processor 52 of the display device 30 executes the correction location identification program 54P, the correction location identification process and display method (also called the correction location identification method) are executed.

[0034] In step 82, the reading unit 52A reads the continuous force result data of the robot 1020 and the trajectory result data of the robot 1020 from the NVM 54 of the display device 30.

[0035] In step 84, the display processing unit 52B displays the continuous force result data of the robot 1020 and the trajectory result data of the robot 1020 on the display 62.

[0036] Figure 6 shows an example of the screen 62D of the display 62 that displays continuous force result data of the robot 1020. As shown in Figure 6, the direct teaching described above starts at time ts and ends at time te. Between time ts and time te, the force of the robot 1020 changes.

[0037] In step 86, the identification unit 52C identifies the parts that need correction. Specifically, based on the force threshold 54T1 of the robot 1020 and the continuous force result data 54D1 of the robot 1020, the identification unit 52C identifies the parts that need correction in the continuous force result data 54D1 of the robot 1020. In addition, based on the trajectory threshold 54T2 of the robot 1020 and the trajectory result data 54D2 of the robot 1020, the identification unit 52C identifies the parts that need correction in the trajectory result data 54D2 of the robot 1020.

[0038] In this embodiment, the force threshold 54T1 of the robot 1020 and the trajectory threshold 54T2 of the robot 1020 are predetermined according to the specifications of the robot 1020. For example, the force threshold 54T1 of the robot 1020 is predetermined as the upper limit of the force of the robot 1020 (or a value predeterminedly smaller than the upper limit (i.e., also called a margin)) and the lower limit of the force of the robot 1020 (or a value predetermined larger than the lower limit (i.e., also called a margin)). More specifically, in a specification where the robot arm 10 wipes the surface 15S of a desk 15 with a cloth, the upper limit is the limit value at which the arm portion 10p4 at the tip of the robot arm 10 does not damage the surface 15S. The lower limit is the minimum value required for the arm portion 10p4 at the tip of the robot arm 10 to wipe the surface 15S of the desk 15 and remove the dirt. In Figure 6, the minimum value is shown as the threshold 54T1. In the example shown in Figure 6, the force of the robot 1020 falls below the minimum value (threshold 54T1) around time tx, so the identification unit 52C identifies that the force teaching data around this time tx should be corrected. A similar specific process is performed on the trajectory result data.

[0039] In step 88, the control unit 52D controls the display 62 to highlight the identified location. In the example shown in Figure 6, circles are superimposed on the identified location in the display portion of the continuous force result data 54D1 of the robot 1020. Similarly, in the trajectory result data 54D2, the portion of the displayed trajectory that exceeds the threshold 54T2 (i.e., deviates) is highlighted.

[0040] (Effects) As described above, in this embodiment, the continuous force result data 54D1 and trajectory result data 54D2 of the robot 1020 obtained as a result of the operator continuously teaching the robot 1020 for a certain period of time identify the parts that need correction (around time tx) and highlight the identified parts (overlaying circles). Therefore, the operator can easily recognize the parts that need correction in the continuous force result data and trajectory result data of the robot.

[0041] By the way, without setting a threshold value, it may not be possible to confirm whether the force or the like is within an appropriate range, and there may be cases where the identified location is inappropriate. However, in the present embodiment, since a threshold value is used, a more appropriate location can be identified, and the user can be made to recognize a more appropriate location.

[0042] In the present embodiment, since a threshold value according to the specifications of the robot 1020 is determined, the user can be saved the trouble of setting the threshold value, and the burden on the user can be reduced.

[0043] [Modification Example] Next, a modification example of the present embodiment will be described. Since the configurations of each modification are the same as those of the above-described embodiment, the description thereof will be omitted, and mainly the operations and effects will be described.

[0044] (First Modification Example) In the above-described embodiment, the threshold value of the force of the robot 1020 for identification by the specifying unit 52C and the threshold value of the trajectory of the robot 1020 are determined in advance according to the specifications of the robot 1020. The technology of the present disclosure is not limited to this. For example, the above threshold values, specifically, the upper limit value of the force of the robot 1020 (or a value slightly smaller than the upper limit value by a predetermined value), the lower limit value of the force of the robot 1020 (or a value slightly larger than the lower limit value by a predetermined value) may be individually specified by the operator via an input device not shown. The threshold value of the trajectory of the robot 1020 may also be individually specified by the operator.

[0045] Since the user specifies, the threshold value can be freely set according to the usage environment or the work object, so that the force or the like optimal for the application or the object can be adjusted.

[0046] (Second Modification Example) In the above-described embodiment, the specifying unit 52C specifies a location where correction is necessary based on the threshold value of the force of the robot 1020 and the continuous result data 54D1 of the force of the robot 1020, and also based on the threshold value of the trajectory of the robot 1020 and the trajectory result data 54D2. The technology of the present disclosure is not limited to this.

[0047] For example, based on the continuous result data 54D1 of force and the trajectory result data 54D2, the operation of the robot 1020 is reproduced to obtain the continuous reproduction data of the robot's force and the trajectory reproduction data of the robot. The specifying unit 52C may specify a location that needs to be corrected from the difference between the obtained continuous reproduction data of the force of the robot 1020 and the continuous result data, and the difference between the trajectory reproduction data of the robot 1020 and the trajectory result data.

[0048] FIG. 7 is a diagram showing an example of a screen 62D of a display 62 that correspondingly displays the continuous reproduction data 102 of the force of the robot 1020 and the continuous result data 54D1, and correspondingly displays the trajectory reproduction data 112 of the robot 1020 and the trajectory result data 54D2. In the example shown in FIG. 7, the specifying unit 52C specifies a location (near time tz) where the difference between the continuous reproduction data 102 of the force of the robot 1020 and the continuous result data 54D1 is greater than or equal to a predetermined value as a location that needs to be corrected. Since there is no location where the difference between the trajectory reproduction data and the trajectory result data of the robot 1020 is greater than or equal to a predetermined value, it is not specified as a location that needs to be corrected.

[0049] When the operation of the robot 1020 is reproduced by each data obtained by teaching and operating the robot 1020, the robot 1020 may operate differently from when it is operated while being taught. Therefore, in the second modification example, since a location that needs to be corrected is specified from the difference between the continuous reproduction data of the force of the robot 1020 and the continuous result data, and the difference between the trajectory reproduction data of the robot 1020 and the trajectory result data, it is possible to specify a location that needs to be corrected in accordance with the actual operation of the robot.

[0050] (Third Modification Example) In the above embodiment, in the continuous result data 54D1 of the force of the robot 1020 and the trajectory result data 54D2 of the robot 1020, a location that needs to be corrected is highlighted and displayed. The technology of the present disclosure is not limited to this, and each highlighted data is corrected.

[0051] Thereby, the continuous result data 54D1 of the force of the robot 1020 and the trajectory result data 54D2 of the robot 1020 can be made into appropriate data.

[0052] <First example of the third modified form> Firstly, the processor 52 of the display device 30 may automatically correct the data in the continuous force result data 54D1 and the trajectory result data 54D2 of the robot 1020, within a threshold value, where correction is necessary. This eliminates the need for the user to correct the data and reduces the burden on the user.

[0053] <Second example of the third modified form> Secondly, each data can be modified by the user inputting the modified data via an input device. Since the user makes the modifications, the data can be freely modified according to the usage environment or the object being worked on, allowing for adjustment of the optimal force, etc., for the application or object.

[0054] <(First aspect of the second example of the third modified example)> However, even if both the continuous force result data 54D1 of the robot 1020 and the trajectory result data 54D2 of the robot 1020 are modified at the same timing, the robot 1020's movement lacks sufficient degrees of freedom, so when the robot 1020's movement is reproduced, it will not be reproduced according to the modified content. For example, the force of the robot 1020 may be reproduced according to the modification, but the trajectory may not be reproduced as modified.

[0055] Therefore, it is also possible to specify whether to prioritize the continuous force result data 54D1 of the robot 1020 or the trajectory result data 54D2 of the robot 1020.

[0056] Figure 8 shows an example of screen 62D of display 62, which displays information to allow the user to specify whether to prioritize the continuous force result data 54D1 of robot 1020 or the trajectory result data 54D2 of robot 1020. As shown in Figure 8, screen 62D of display 62 displays graph G1, which displays the continuous force playback data 102 and continuous result data 54D1 of robot 1020 in correspondence, and graph G2, which displays the trajectory playback data 112 and trajectory result data 54D2 of robot 1020 in correspondence. In addition, screen 62D of display 62 displays a slider S for specifying whether to prioritize the continuous force result data 54D1 of robot 1020 or the trajectory result data 54D2 of robot 1020.

[0057] In graph G1, the correction point H1 is highlighted near time tx, and in graph G2, the correction point H2 is highlighted near time tx. By looking at these, the user moves the slider bar 15 to specify which data to prioritize near time tx. As a result, the processor 52 of the display device 30 corrects the parameters of the prioritized data according to the priority amount determined by the position of the bar 15.

[0058] The data can be modified according to the user's preferences.

[0059] In the first embodiment of the second example of the third modification, the priority of force and trajectory may be set for each direction of force or motion. More specifically, the data can be flexibly modified to suit the user's preferences.

[0060] <(Second aspect of the second example of the third modification)> Secondly, when the modification of each data is performed by the user inputting modification data via an input device, the compliance, which is the softness of the movement of the robot arm 10 (i.e., the reciprocal of stiffness), may be used as the modification indicator to specify (compliance control). Specifically, the user specifies by inputting a numerical value as compliance (for example, 10 m / N? etc.). Note that setting the compliance value to a large value corresponds to prioritizing force as in the first aspect of the second example above, and setting the compliance value to a small value corresponds to prioritizing trajectory as in the first aspect of the second example above.

[0061] The data can be modified to suit the preferences of users such as engineers.

[0062] In the second embodiment of the second example of the third variation, the compliance values ​​may be set for each direction. More specifically, the data can be flexibly modified to suit the user's preferences.

[0063] <Third example of the third modification> If the parts that need correction are highlighted in the continuous force result data 54D1 of the robot 1020 and the trajectory result data 54D2 of the robot 1020, the user can correct each of the highlighted data. In this case, the user recalls how the robot arm 10 was operating during direct teaching.

[0064] However, even if the continuous force result data 54D1 and the trajectory result data 54D2 of the robot 1020 are displayed, it is difficult for the user to recall how the robot arm 10 was operating during direct teaching. The longer the direct teaching period, and the more complex the operation of the robot arm 10, the more difficult it becomes to recall.

[0065] Therefore, in the third example of the third modification, the screen 62D of the display 62 displays, in correspondence, the continuous force result data 54D1 of the robot 1020 and the trajectory result data 54D2 of the robot 1020, along with information indicating what kind of movement the robot arm 10 was performing. This allows the user to recall how the robot arm 10 was moving during direct teaching.

[0066] Figure 9 shows an example of the screen 62D of the display 62, which displays continuous force result data 54D1 and trajectory result data 54D2 of the robot 1020, along with information indicating the movement of the robot arm 10. As shown in Figure 9, the information indicating the movement of the robot arm 10 is the robot's 3D data 1020M. In this case, the robot's 3D data 1020M is displayed as an animation using 3D simulation, so that the robot moves according to each timing from the start timing to the end timing of direct teaching, and the continuous result data 54D1 and trajectory result data 54D2 are displayed according to those timings.

[0067] Furthermore, a camera may be provided to photograph the robot 1020 during direct teaching, and the robot's movements may be replayed based on the captured video data. The robot may then move according to each timing, and the continuous result data 54D1 and trajectory result data 54D2 may be displayed according to that timing. By replaying the robot's movements based on video data obtained by photographing the robot 1020 with a camera, the user can more clearly recall how the robot arm 10 was moving during direct teaching.

[0068] [Addendum] Based on the above disclosure, the following addendum is proposed.

[0069] (Note 1) A display device comprising: a display unit that displays, in correspondence, information relating to the force of the robot and information relating to the trajectory of the robot obtained as a result of the robot's operation during robot teaching; an identification unit that identifies a part that needs correction based on the information relating to the force of the robot and the trajectory; and a control unit that controls the display unit so that the identified part is highlighted.

[0070] Specifically, the display device comprises: a display unit that displays in correspondence between continuous force result data of the robot and trajectory result data of the robot obtained as a result of the robot operating while being continuously taught for a certain period of time; an identification unit that identifies parts in the continuous force result data and trajectory result data of the robot that require correction; and a control unit that controls the display unit so that the identified parts are highlighted.

[0071] (Note 2) The display device according to Note 1, wherein the identifying unit identifies the portion of the robot's force information that requires modification based on a threshold value of the robot's force information and the robot's force information, and identifies the portion of the robot's trajectory information that requires modification based on a threshold value of the robot's trajectory information and the robot's trajectory information.

[0072] Specifically, the display device according to Appendix 1, wherein the identifying unit identifies the portion in the continuous force result data of the robot that requires correction based on the force threshold of the robot and the continuous force result data of the robot, and identifies the portion in the robot trajectory result data that requires correction based on the trajectory threshold of the robot and the trajectory result data of the robot.

[0073] (Note 3) The display device described in Note 2, wherein the threshold values ​​for the force information of the robot and the threshold values ​​for the trajectory information of the robot are predetermined by the specifications of the robot, or are determined by the user specifying the threshold values ​​for the force information of the robot and the trajectory information of the robot displayed on the display unit.

[0074] Specifically, the force threshold of the robot and the trajectory threshold of the robot are determined by the robot's specifications, or by the user specifying the thresholds in the continuous force result data and trajectory result data of the robot displayed on the display unit, as described in Appendix 2 of the display device.

[0075] (Note 4) The display device according to Note 1, further comprising an acquisition unit that acquires force information continuous playback data of the force information of the robot and trajectory information of the trajectory information of the robot from the robot whose movements have been reproduced based on the force information and the trajectory information of the robot, wherein the identification unit identifies the part that needs to be corrected from the difference between the force information continuous playback data and the force information and the difference between the trajectory information playback data and the trajectory information.

[0076] Specifically, the display device according to Appendix 1 further comprises an acquisition unit that acquires continuous force reproduction data and robot trajectory reproduction data from the robot whose operation has been reproduced based on the continuous force result data and robot trajectory result data, and the identification unit identifies the part that needs correction from the difference between the acquired continuous force reproduction data and the continuous result data and the difference between the robot trajectory reproduction data and the trajectory result data.

[0077] (Note 5) A display method comprising: a display unit displaying, in correspondence, information relating to the force of the robot and information relating to the trajectory of the robot obtained as a result of the robot's operation during robot teaching; a specification unit identifying a part in the information relating to the force of the robot and the information relating to the trajectory that requires correction; and a control unit controlling the display unit so that the identified part is highlighted.

[0078] Specifically, the display method includes: a display unit displaying, in correspondence, continuous force result data of the robot and trajectory result data of the robot obtained as a result of the robot operating while being continuously taught for a certain period of time; a specification unit identifying parts in the continuous force result data and trajectory result data of the robot that require correction; and a control unit controlling the display unit so that the identified parts are highlighted.

[0079] (Appendix 6) A robot system comprising a display device described in any one of Appendix 1 to 4, and the robot.

[0080] 10 Robot arm 15 Desk 15S Surface 20 Robot controller 30 Display device 52 Processor 54D1 Continuous result data 54D2 Trajectory result data 54P Correction location identification program 54T1 Threshold 54T2 Threshold 62 Display 62D Screen 100 Robot system 102 Continuous playback data 112 Trajectory playback data 1020 Robot 1020M 3D data H1 Correction location H2 Correction location

Claims

1. A display device comprising: a display unit that displays, in correspondence, information relating to the force of the robot and information relating to the trajectory of the robot obtained as a result of the robot's operation during robot teaching; an identification unit that identifies areas requiring correction based on the information relating to the force of the robot and the trajectory; and a control unit that controls the display unit so that the identified areas are highlighted.

2. The display device according to claim 1, wherein the identifying unit identifies the portion of the robot's force information that requires modification based on a threshold value of the robot's force information and the robot's force information, and identifies the portion of the robot's trajectory information that requires modification based on a threshold value of the robot's trajectory information and the robot's trajectory information.

3. The display device according to claim 2, wherein the threshold values ​​for information relating to the force of the robot and the threshold values ​​for information relating to the trajectory of the robot are predetermined by the specifications of the robot, or are determined by the user specifying the threshold values ​​for the information relating to the force of the robot and the information relating to the trajectory of the robot displayed on the display unit.

4. The display device according to claim 1, further comprising an acquisition unit that acquires force information continuous playback data of the force information of the robot and trajectory information of the trajectory information of the robot from the robot which has reproduced its movements based on the force information and the trajectory information of the robot, wherein the identification unit identifies the part that needs to be corrected from the difference between the force information continuous playback data and the force information and the difference between the trajectory information playback data and the trajectory information.

5. A display method comprising: a display unit displaying, in correspondence, information relating to the force of the robot and information relating to the trajectory of the robot obtained as a result of the robot's operation during robot teaching; a specification unit identifying a portion of the robot's force information and trajectory information that requires correction; and a control unit controlling the display unit so that the identified portion is highlighted.

6. A robot system comprising: a display device according to any one of claims 1 to 4; and the robot.

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