TEACHING DATA CORRECTING DEVICE

To solve the problem that teaching data cannot be corrected during operation of a robot.SOLUTION: A teaching data correcting device 3 comprises: a model storage part 31 that stores a three-dimensional model of a virtual robot corresponding to an actual robot in an actual environment; a teaching data...

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Bibliographic Details
Main Authors FURUKAWA NAOKI, DANJO AZUSA, NARUKAWA YUTA, KITANO TOYOKAZU
Format Patent
LanguageEnglish
Japanese
Published 07.02.2023
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
CONTROL OR REGULATING SYSTEMS IN GENERAL
CONTROLLING
FUNCTIONAL ELEMENTS OF SUCH SYSTEMS
HAND TOOLS
MANIPULATORS
MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS
PERFORMING OPERATIONS
PHYSICS
PORTABLE POWER-DRIVEN TOOLS
REGULATING
TRANSPORTING
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Summary:To solve the problem that teaching data cannot be corrected during operation of a robot.SOLUTION: A teaching data correcting device 3 comprises: a model storage part 31 that stores a three-dimensional model of a virtual robot corresponding to an actual robot in an actual environment; a teaching data storage part 32 that stores teaching data on the actual robot; a receiving part 34 that receives operation and teaching instructions to the three-dimensional model; a positional relation obtaining part 33 that obtains a relative positional relation between a display device 4 that displays an image while superimposing the image on an image of the actual environment or on the actual environment and the actual environment; an image generating part 35 that generates a display image for displaying the operated three-dimensional model so that the three-dimensional model is in a predetermined relation with the actual robot, using the relative positional relation with the three-dimensional model; an output part 36 that outputs the display image to the display device 4; and a correcting part 39 that corrects the teaching data in accordance with the three-dimensional model, when receiving the teaching instruction during operation of the actual robot.SELECTED DRAWING: Figure 1 【課題】ロボットの動作中には教示データを修正できないという課題があった。【解決手段】教示データ修正装置３は、実環境の実ロボットに対応する仮想ロボットの３次元モデルが記憶されるモデル記憶部３１と、実ロボットの教示データが記憶される教示データ記憶部３２と、３次元モデルに対する操作及び教示の指示を受け付ける受付部３４と、画像を実環境の画像または実環境そのものに重ねて表示する表示装置４と実環境との相対的な位置関係を取得する位置関係取得部３３と、３次元モデルと相対的な位置関係とを用いて、実ロボットと所定の関係となるように、操作された３次元モデルを表示するための表示画像を生成する画像生成部３５と、表示画像を表示装置４に出力する出力部３６と、実ロボットの動作中に教示の指示が受け付けられた際に、３次元モデルに応じて教示データを修正する修正部３９とを備える。【選択図】図１
Bibliography:Application Number: JP20210121718