Title:
PROCESSING METHOD, PROGRAM, AND ROBOT SYSTEM
Document Type and Number:
WIPO Patent Application WO/2022/071588
Kind Code:
A1
Abstract:
A processing method of the present disclosure includes one or both of a first process and a second process for extracting a reference teaching point from a plurality of teaching points that include position and posture information about an end effector (120), and form trajectories of movement of the end effector in chronological order. The first process extracts the reference teaching point at which the difference between a direction vector directed from a position of the teaching point at a predetermined interval ahead of the reference teaching point towards the position of the reference teaching point and a direction vector directed from the position of the reference teaching point towards a position of the teaching point at a predetermined interval behind the reference teaching point is greater than or equal to a threshold value. The second process extracts the reference teaching point at which the difference between a posture at the teaching point at a predetermined interval ahead of the reference teaching point and a posture at the reference teaching point is greater than or equal to a threshold value, or the reference teaching point at which the difference between the posture at the reference teaching point and a posture at the teaching point at a predetermined interval behind the reference teaching point is greater than or equal to the threshold value.
Inventors:
ISODA HIDEKI
ASATO TATSUTOSHI
KATSUBE MASATO
ASATO TATSUTOSHI
KATSUBE MASATO
Application Number:
PCT/JP2021/036460
Publication Date:
April 07, 2022
Filing Date:
October 01, 2021
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
International Classes:
B25J9/22; G05B19/42
Domestic Patent References:
| WO2016151667A1 | 2016-09-29 |
Foreign References:
| JP2015153097A | 2015-08-24 | |||
| JPH09216183A | 1997-08-19 | |||
| JP2007144538A | 2007-06-14 | |||
| JPS60164809A | 1985-08-27 | |||
| JP2011180787A | 2011-09-15 | |||
| JPH03230201A | 1991-10-14 | |||
| JP2018001381A | 2018-01-11 |
Attorney, Agent or Firm:
ARCO PATENT & TRADEMARK ATTORNEYS (JP)
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