Robot teaching device and robot teaching method
A robot teaching device and a robot teaching method with which a robot can be caused to carry out a series of tasks with high work efficiency. A feature quantity acquisition unit acquires feature quantity data indicating an amount of effect that an action of a worker has on work targets; an important point period determination unit determines, from periods for which action data is acquired and on the basis of the feature quantity data, periods in which the worker is performing actions essential to the series of tasks, as important point periods; and a teaching data generation unit generates, on the basis of the action data, teaching data to be input into robots so that the actions of the worker in the important point periods are reproduced and the actions of the worker outside the important point periods are not reproduced.
1 . A robot teaching device for teaching a robot a series of tasks performed on a task object by an operator,
the device comprising:
a motion acquisition unit that acquires motion data indicating a position and an attitude of the operator or the task object;
a feature amount acquisition unit that acquires feature amount data indicating a degree of influence of a motion of the operator on the task object;
a priority period determination unit that determines a period during which the operator makes a motion indispensable for the series of tasks from among periods during which the motion data is acquired, as a priority period on a basis of the feature amount data; and
a teaching data generation unit that generates teaching data to be input to the robot, the teaching data being generated on a basis of the motion data such that a motion of the operator in the priority period is reproduced while a motion of the operator in periods other than the priority period are not reproduced.
2 . The robot teaching device according to claim 1 , further comprising:
a glove that is to be worn by the operator; and
a pressure sensor that is attached to the glove, wherein
the feature amount acquisition unit acquires a measured value of the pressure sensor as the feature amount data.
3 . The robot teaching device according to claim 2 , wherein
the priority period determination unit determines, as the priority period, a period during which a time-derivative absolute value of a measured value of the pressure sensor is equal to or larger than a predetermined threshold value among periods during which the motion data is acquired.
4 . The robot teaching device according to claim 1 , wherein
the teaching data generation unit generates the teaching data in a period other than the priority period such that time axes of elements of the motion data in the priority period agree with time axes in the teaching data and a motion is made for a shortest path under restrictions of a range of motion, a maximum permissible speed, and a maximum permissible acceleration of the robot.
5 . The robot teaching device according to claim 1 , further comprising:
a priority period selection unit that allows the operator or another user to select whether the motion data in a period determined as the priority period by the priority period determination unit is to be reproduced in the teaching data.
6 . The robot teaching device according to claim 1 , further comprising:
multiple types of sensors that measure different physical quantities as the feature amount data, wherein
the feature amount acquisition unit acquires measured values of the multiple types of sensors as the feature amount data.
7 . The robot teaching device according to claim 6 , further comprising:
a priority period selection unit that allows the operator or another user to select whether or not points of a period during which the motion data is acquired are to be reproduced in the teaching data, wherein
on the basis of the measured values of the multiple types of sensors, the priority period determination unit calculates a probability that the priority period includes the points of the period during which the motion data is acquired, and outputs the probability to the priority period selection unit, and
when the operator or another user is allowed to select whether the points of the motion data are to be reproduced in the teaching data, the priority period selection unit displays the probability that the priority period includes the points of the period during which the motion data is acquired.
8 . A robot teaching method for teaching a robot a series of tasks performed on a task object by an operator,
the method comprising:
acquiring motion data indicating a position and an attitude of the operator or the task object;
acquiring feature amount data indicating a degree of influence of a motion of the operator on the task object;
determining a period during which the operator makes a motion indispensable for the series of tasks from among periods during which the motion data is acquired, as a priority period on a basis of the feature amount data; and
generating teaching data to be input to the robot, the teaching data being generated on a basis of the motion data such that a motion of the operator in the priority period is reproduced while a motion of the operator in periods other than the priority period are not reproduced.