US 12,304,069 B2
Teaching support method, teaching support device, and storage medium
Yuma Shimura, Matsumoto (JP)
Assigned to SEIKO EPSON CORPORATION, (JP)
Filed by SEIKO EPSON CORPORATION, Tokyo (JP)
Filed on Jun. 29, 2022, as Appl. No. 17/853,010.
Claims priority of application No. 2021-108751 (JP), filed on Jun. 30, 2021.
Prior Publication US 2023/0001566 A1, Jan. 5, 2023
Int. Cl. B25J 11/00 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); G05B 19/42 (2006.01)
CPC B25J 9/0081 (2013.01) [B25J 9/1664 (2013.01); B25J 11/0065 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A teaching support method for causing a processor to execute a program stored in a memory, the teaching method comprising executing on the processor the steps of:
acquiring a movement of a robot arm having a plurality of joints, a movement start point where the movement starts, and a plurality of teaching points along which the robot arm moves;
calculating a plurality of attitude candidates for an attitude of the robot arm at the movement start point;
calculating a rotation amount of each of the plurality of joints when the robot arm moves between every two adjacent points among the movement start point and the plurality of teaching points for each of the plurality of attitude candidates;
calculating a plurality of sums of the rotation amounts of the plurality of joints at the plurality of teaching points for each of the plurality of attitude candidates;
selecting a plurality of lowest values of the plurality of sums at the plurality of teaching points among the plurality of attitude candidates;
identifying a plurality of attitudes of the robot arm at the plurality of teaching points corresponding to the plurality of lowest values;
reporting the plurality of attitudes of the robot arm; and
operating the robot arm according to the identified plurality of attitudes.