Information processing apparatus for robot teaching, and robot system for robot teaching

1 . An information processing apparatus for robot teaching by using a movable object being moved independently in time from a robot, the information processing apparatus comprising:

at least one memory configured to store a program; and

at least one processor configured to execute the program to at least:

based on the movable object being sequentially moved from one position to another among a plurality of positions in a physical space, acquire:

the plurality of positions of the movable object in the physical space, or

the plurality of positions, and a plurality of orientations of the movable object at the plurality of respective positions in the physical space; and

generate trajectory information indicating a trajectory of a specific part of the robot, the specific part moving to the same or substantially the same positions in the physical space at which the movable object was positioned, such that the specific part sequentially follows the plurality of positions in the physical space at which the moveable object was moved, by sequentially defining a plurality of positions and orientations of the specific part of the robot based on:

the acquired plurality of positions of the movable object, or

the acquired plurality of positions and orientations of the movable object.

2 . The information processing apparatus according to claim 1 ,

wherein the at least one processor is further configured to execute the program to control the robot based on the generated trajectory information.

3 . The information processing apparatus according to claim 2 , further comprising an input device configured to receive calibration instructions to calibrate:

a position from among the acquired plurality of positions of the movable object, or

the position, and an orientation from among the acquired plurality of orientations of movable object,

wherein the at least one processor is further configured to execute the program to calibrate the generated trajectory information based on the calibration instructions.

4 . The information processing apparatus of claim 1 , wherein the trajectory information is generated in response to an end teaching event.

5 . A robot system for robot teaching, comprising:

a robot;

a movable object that is sequentially movable from one position to another among a plurality of positions in a physical space and that is movable independently in time from the robot;

a detector configured to detect the plurality of positions of the movable object in the physical space; and

an information processing apparatus,

wherein the movable object comprises:

an inertial sensor configured to detect a plurality of orientations of the movable object at the plurality of respective positions in the physical space; and

a communicator configured to communicate with at least the information processing apparatus,

wherein the detector comprises a communicator configured to communicate with the information processing apparatus, and

wherein the information processing apparatus comprises:

at least one memory configured to store a program; and

at least one processor configured to execute the program to at least:

acquire from the detector, the detected plurality of positions of the movable object;

acquire from the inertial sensor, the detected plurality of orientations of the movable object;

generate trajectory information indicating a trajectory of a specific part of the robot, the specific part moving to the same or substantially the same positions in the physical space at which the movable object was positioned, such that the specific part follows the plurality of positions in the physical space at which the movable object was moved, by sequentially defining a plurality of positions and orientations of the specific part of the robot based on the acquired plurality of positions and the acquired plurality of orientations of the movable object; and

control the robot based on the trajectory information.

6 . The robot system according to claim 5 , wherein

the inertial sensor is further configured to detect

a plurality of second positions of the movable object in the physical space, and

the at least one processor is further configured to execute the program:

acquire, from the inertial sensor,

the detected plurality of second positions of the movable object; and

generate the trajectory information further based on:

the acquired plurality of positions;

the acquired plurality of orientations; and

the acquired plurality of second positions.

7 . The robot system according to claim 5 ,

wherein the movable object or the information processing apparatus further comprises an input device configured to receive user instructions to cause the movable object or the information processing apparatus to detect:

the plurality of positions of the movable object, or

the plurality of positions and orientations of the movable object.

8 . A computer-implemented method for generating trajectory information indicative of a trajectory of a specific part of a robot in robot teaching by using a movable object, the method comprising:

based on the movable object being sequentially moved from one position to another among a plurality of positions in a physical space and being moved independently in time from the robot, acquiring:

the plurality of positions of the movable object in the physical space, or

the plurality positions, and a plurality of orientations of the movable object at the plurality of respective positions in the physical space; and

generating trajectory information indicating a trajectory of the specific part of the robot, the specific part moving to the same or substantially the same positions in the physical space at which the movable object was positioned, such that the specific part sequentially follows the plurality of positions in the physical space at which the moveable object was moved, by sequentially defining a plurality of positions and orientations of the specific part of the robot based on:

the acquired plurality of positions of the movable object, or

the acquired plurality of positions and orientations of the movable object.

9 . The method according to claim 8 , further comprising:

moving the specific part of the robot to a position from among the plurality of the positions in the physical space;

calibrating the position of the moved specific part, and an orientation of the moved specific part at the position, and

calibrating the generated trajectory information based on the calibrated position and orientation of the specific part.

10 . The method according to claim 8 , further comprising:

moving the specific part of the robot to a position from among the plurality of the positions in the physical space;

calibrating the position of the moved specific part, and an orientation of the moved specific part at the position, and

generating the trajectory information based on the calibrated position and orientation of the specific part.