Patent ID: 7930067
Filing Date: 2011-04-19
Classification: B25J,G05B

Abstract:
1. A motion editing apparatus for editing motion data which define motions of a robot apparatus which includes an operation member having a plurality of movable joints and capable of providing an operation to a particular operation object, comprising: hand-written inputting means configured to allow a user to hand-written input a character or a picture to be plotted by the robot apparatus; plotting trajectory discrimination means configured to discriminate, from within a trajectory plotted through said hand-written inputting section, a first portion which is being plotted and a second portion other than the first portion; hand-written input information display means configured to output the trajectory being hand-written inputted by the user on a screen; three-dimensional trajectory design deriving means configured to derive a three-dimensional trajectory design based on the two-dimensional plotting information inputted through said hand-written inputting section and a result of the discrimination by said plotting trajectory discrimination section; three-dimensional trajectory design display means configured to display the three-dimensional trajectory design derived by said three-dimensional trajectory design deriving section on a three-dimensional screen; interaction means configured to re-arrange the three-dimensional trajectory design in a three-dimensional space, in which the robot apparatus works, in accordance with interactions of the user through said three-dimensional screen and designate an operation member by which plotting of a character or a picture is to be performed in accordance with the three-dimensional trajectory design; instruction value conversion means configured to convert the re-arranged three-dimensional trajectory design into instruction values for joint actuators, which compose a designated operation member, for plotting using the designated operation member; and motion data outputting means configured to output the converted instruction values as motion data which define the three-dimensional trajectory design in accordance with which the robot apparatus implements the character or the picture hand-written inputted by the user in the three-dimensional space.