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1. 发明专利

JP2011104759A Teaching auxiliary tool for robot control system, teaching method using the teaching auxiliary tool, and robot control system performing teaching by the teaching method 审中-公开
标题翻译：用于机器人控制系统的辅助辅助工具，使用辅助工具的教学方法以及通过教学方法执行教学的机器人控制系统
公开(公告)号：JP2011104759A
公开(公告)日：2011-06-02
申请号：JP2009265704
申请日：2009-11-20
申请人： Applied Vision Systems Corp , Idec Corp , Idec株式会社 , 株式会社アプライド・ビジョン・システムズ
发明人： YONEZAWA HIROSHI , NOMURA MITSUTOSHI , HAMADA KOICHI , TAKAHASHI HIRONOBU , CHO KENSHIN , SATO ATSUSHI , KADOUCHI MASAKAZU
IPC分类号： B25J9/22 , G05B19/42
摘要： PROBLEM TO BE SOLVED: To provide a teaching auxiliary tool for a robot control system capable of further simplifying teaching work and shortening a teaching time, a teaching method using the teaching auxiliary tool, and a robot control system for performing teaching by the teaching method.
SOLUTION: A teaching tool 50, i.e., one embodiment of the teaching auxiliary tool for the robot control system capable of performing teaching using an imaging device includes a tool body 51 having a triangular pyramid 52 in which colors of pyramid surfaces 52a, 52b, 52c are different from one another; and a handle 54 connected to the tool body 51.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：为了能够进一步简化教学工作并缩短教学时间的机器人控制系统的教学辅助工具，使用教学辅助工具的教学方法和用于执行教学的教学的机器人控制系统教学法。解决方案：教学工具50，即能够使用成像装置执行教学的用于机器人控制系统的教学辅助工具的一个实施例包括具有三角锥52的工具主体51，其中金字塔表面52a， 52b，52c彼此不同; 和与工具主体51连接的手柄54.版权所有（C）2011，JPO＆INPIT

2. 发明专利

JP2011110627A Robot control method, robot control program, and teaching pendant used for robot control method 有权
标题翻译：机器人控制方法，机器人控制程序和用于机器人控制方法的教学用具
公开(公告)号：JP2011110627A
公开(公告)日：2011-06-09
申请号：JP2009266808
申请日：2009-11-24
申请人： Idec Corp , Idec株式会社
发明人： YONEZAWA HIROSHI , NOMURA MITSUTOSHI , HAMADA KOICHI
IPC分类号： B25J9/22 , G05B19/42
摘要： PROBLEM TO BE SOLVED: To provide a teaching method for a robot control system capable of automatically performing teaching without performing teaching work in which change of a position and a direction of an actual robot hand is repeated by operating a teaching pendant by a worker, and a robot control system for performing teaching by the teaching method.
SOLUTION: One embodiment of the teaching method includes: a first photographing step for performing photographing by a conveyable camera 8 so as to include a marker 23 of a tray 20; a first image processing step for performing determination checking with data previously registered in every tray 20 by detecting the marker 23 from the image; an initial movement step for moving the robot hand 31 to an initial position according to the corresponding marker 23; a second photographing step for performing photographing by a small sized camera 34 of the robot hand 31 so as to include at least one of the markers 23; and a second image processing step for detecting position error of the marker 23 from the image.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够自动执行教学而不进行教学工作的机器人控制系统的教学方法，其中通过将教学用品通过操作教学工具来重复实际的机器人手的位置和方向的改变工人，以及通过教学方法进行教学的机器人控制系统。解决方案：教学方法的一个实施例包括：第一拍摄步骤，用于通过可传送照相机8进行拍摄，以包括托盘20的标记23; 第一图像处理步骤，用于通过从图像中检测标记23来对先前登记在每个托盘20中的数据执行确定检查; 用于根据对应的标记23将机器人手31移动到初始位置的初始移动步骤; 第二拍摄步骤，用于通过机器人手31的小尺寸相机34进行拍摄，以便包括标记23中的至少一个; 以及第二图像处理步骤，用于从图像中检测标记23的位置误差。版权所有（C）2011，JPO＆INPIT

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