ROBOT CONTROL DEVICE, ROBOT, ROBOTIC SYSTEM, TEACHING METHOD, AND PROGRAM

• US 20150273689A1
• Filed: 03/23/2015
• Published: 10/01/2015
• Est. Priority Date: 03/26/2014
• Status: Abandoned Application

• Current Assignee: Seiko Epson Corporation (Seiko Group)
• Original Assignee: Seiko Epson Corporation (Seiko Group)
• Inventors: OUCHI, Makoto
• Application Number:
  US14/665,414
• Publication Number:
  US 20150273689A1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: B25J 9/1612 characterised by the hand, wrist, grip control
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 19/427 Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, master-slave control G05B19/423 takes precedence
• CPC Class Codes: G05B 2219/35462 Mouse
• CPC Class Codes: G05B 2219/37555 Camera detects orientation, position workpiece, points of workpiece
• CPC Class Codes: G05B 2219/39446 Display of manipulator and workpiece and jog directions
• CPC Class Codes: G05B 2219/39466 Hand, gripper, end effector of manipulator
• CPC Class Codes: G05B 2219/39476 Orient hand relative to object
• CPC Class Codes: G05B 2219/39484 Locate, reach and grasp, visual guided grasping
• CPC Class Codes: Y10S 901/31 Gripping jaw
• CPC Class Codes: Y10S 901/47 Optical

Abstract

A robot control device includes a display section adapted to display an image of a robot, a reception section adapted to receive an operation to the image of the robot displayed by the display section, and a teaching section adapted to teach an action of the robot, the display section displays an image showing one of movement of a gripping section of the robot, rotation of the gripping section, and opening and closing of the gripping section in accordance with the operation, and the teaching section teaches one of the movement of the gripping section of the robot, the rotation of the gripping section, and the opening and closing of the gripping section to the robot in accordance with the operation.

Claims

1. A robot control device comprising:

a display section adapted to display an image of a robot;

a reception section adapted to receive an operation to the image of the robot displayed by the display section; and

a teaching section adapted to teach an action of the robot,

wherein the display section displays an image showing one of movement of a gripping section of the robot, rotation of the gripping section, and opening and closing of the gripping section in accordance with the operation, and

the teaching section teaches one of the movement of the gripping section of the robot, the rotation of the gripping section, and the opening and closing of the gripping section to the robot in accordance with the operation.

2. The robot control device according to claim 1, wherein

the reception section receives a movement of a contact position on a screen as the operation.

3. The robot control device according to claim 2, wherein

in a case in which the reception section receives an operation of moving the contact position from an area on an image of the gripping section to an area on an image of an object,

the display section displays an image showing an action of moving the gripping section to the object and then gripping the object, and

the teaching section teaches the action of moving the gripping section to the object and then gripping the object to the robot.

4. The robot control device according to claim 2, wherein

in a case in which the reception section receives an operation of selecting an image of an object in a state in which an image of the gripping section is selected,

the display section displays an image showing an action of moving the gripping section to the object and then gripping the object, and

the teaching section teaches the action of moving the gripping section to the object and then gripping the object to the robot.

5. The robot control device according to claim 3, wherein

the reception section receives the contact position on the image of the object as a gripping position,

the display section displays an image showing an action of moving the gripping section to the gripping position and then gripping the object, and

the teaching section teaches the action of moving the gripping section to the gripping position and then gripping the object to the robot.

6. The robot control device according to claim 3, further comprising:

an image acquisition section adapted to obtain a taken image obtained by taking an image of the object,

wherein the display section generates the image of the object based on the taken image, and then displays the image of the object.

7. The robot control device according to claim 2, wherein

in a case in which the reception section receives an operation of moving the contact position so as to draw a circular arc,

the display section displays an image showing an action of rotating the gripping section, and

the teaching section teaches the action of rotating the gripping section to the robot.

8. The robot control device according to claim 2, wherein

the contact position includes a first contact position and a second contact position, and

in a case in which the reception section receives an operation of moving the first contact position and the second contact position one of closer to each other and away from each other,

the display section displays an image showing an action of one of closing and opening the gripping section, and the teaching section teaches the action of one of closing and opening the gripping section to the robot.

9. The robot control device according to claim 2, wherein

in a case in which the reception section receives an operation of moving the contact position in a predetermined area on the screen,

the display section changes a viewpoint, and then displays the image of the gripping section.

10. The robot control device according to claim 1, wherein

the reception section receives a movement of a pointing position shown in a pointing image on the screen operated by a pointing device as the operation instead of the movement of the contact position on the screen.

11. A robot comprising:

a display section adapted to display an image;

a reception section adapted to receive an operation to the image displayed by the display section; and

a teaching section adapted to teach an action,

wherein the display section displays an image showing one of movement of a gripping section, rotation of the gripping section, and opening and closing of the gripping section in accordance with the operation, and

the teaching section teaches one of the movement of the gripping section, the rotation of the gripping section, and the opening and closing of the gripping section in accordance with the operation.

12. A robotic system comprising:

a robot;

a robot control device adapted to control the robot;

a display section adapted to display an image of the robot;

a reception section adapted to receive an operation to the image of the robot displayed by the display section; and

a teaching section adapted to teach an action of the robot,

wherein the display section displays an image showing one of movement of a gripping section of the robot, rotation of the gripping section, and opening and closing of the gripping section in accordance with the operation, and

the teaching section teaches one of the movement of the gripping section of the robot, the rotation of the gripping section, and the opening and closing of the gripping section to the robot in accordance with the operation.

13. A teaching method of an action of a robot, comprising:

displaying an image of the robot;

receiving an operation to the image of the robot displayed in the displaying; and

teaching the action of the robot,

wherein in the displaying, an image showing one of movement of a gripping section of the robot, rotation of the gripping section, and opening and closing of the gripping section is displayed in accordance with the operation, and

in the teaching, one of the movement of the gripping section of the robot, the rotation of the gripping section, and the opening and closing of the gripping section is taught to the robot in accordance with the operation.

14. A program of a robot control device comprising:

making the robot control device function as

a display section adapted to display an image of a robot,

a reception section adapted to receive an operation to the image of the robot displayed by the display section, and

a teaching section adapted to teach an action of the robot,

wherein the display section displays an image showing one of movement of a gripping section of the robot, rotation of the gripping section, and opening and closing of the gripping section in accordance with the operation, and

the teaching section teaches one of the movement of the gripping section of the robot, the rotation of the gripping section, and the opening and closing of the gripping section to the robot in accordance with the operation.