US 12,172,312 B2
Method of generating control program for robot, storage medium, and teaching apparatus
Takema Yamazaki, Fujimi-machi (JP); Daisuke Sato, Matsumoto (JP); and Daiki Tokushima, Azumino (JP)
Assigned to SEIKO EPSON CORPORATION, Tokyo (JP)
Filed by SEIKO EPSON CORPORATION, Tokyo (JP)
Filed on Mar. 24, 2022, as Appl. No. 17/702,822.
Claims priority of application No. 2021-051241 (JP), filed on Mar. 25, 2021.
Prior Publication US 2022/0331954 A1, Oct. 20, 2022
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/163 (2013.01) 7 Claims
OG exemplary drawing
 
1. A control system for controlling a robot, comprising:
a teaching apparatus generating a control program for the robot, comprising:
a processor; and
a display unit,
wherein the processor is configured to
receive an instruction on a plurality of teaching points as a reference for movement of a robot arm of the robot;
generate a trajectory in which the robot arm moves between the plurality of teaching points, based on
a first constraint condition with respect to a movement time for which the robot arm moves between the plurality of teaching points and
a second constraint condition with respect to a drive condition when the robot arm moves between the plurality of teaching points;
control to display the trajectory and accumulated power consumption when the robot arm moves between the plurality of teaching points along the trajectory on the display unit; and
generate the control program for the robot based on the trajectory when receiving an instruction to employ the trajectory,
wherein the second constraint condition is that absolute values of an acceleration and a deceleration of the robot arm when the robot arm moves between the plurality of teaching points along the trajectory in the power-saving mode are smaller than absolute values of an acceleration and a deceleration of the robot arm when the robot arm moves between the plurality of teaching points along the trajectory in the normal mode; and
a control apparatus electrically coupled to the teaching apparatus, wherein the control apparatus is configured to control a position and an attitude of the robot arm according to the control program, to cause the robot arm to move along the generated trajectory.