Patent ID: 8855815
Filing Date: 2014-10-07
Classification: G05B

Abstract:
1. A motion path search device which searches for a motion path of a movable part of a robot capable of being taught a motion by direct teaching in which the robot is directly moved by an operator, said motion path search device comprising: a first space identification circuit configured to identify a space swept through by the movable part of the robot in the direct teaching; a second space identification circuit configured to identify a space swept through by at least a portion of a body of the operator in the direct teaching; a space combining circuit configured to calculate, as an accessible space, a union of the space identified by said first space identification circuit and the space identified by said second space identification circuit; and a path search circuit configured to search for a motion path of the movable part within the accessible space calculated by said space combining circuit, wherein said second space identification circuit is configured to identify the space swept through by the at least a portion of the body of the operator, by virtually placing a three-dimensional model in a three-dimensional space based on a three-dimensional position of the at least a portion of the body of the operator, and identifying a region occupied by the three-dimensional model in the three-dimensional space, the three-dimensional model having a shape of the at least a portion of the body of the operator, wherein the robot has a handle part which the operator grasps in the direct teaching, and said second space identification circuit is configured to identify the space swept through by the at least a portion of the body of the operator, by virtually placing the three-dimensional model in the three-dimensional space based on at least one of three-dimensional positions of an elbow, a shoulder, and a wrist of the operator and a three-dimensional position of the handle part, and identifying a region occupied by the three-dimensional model in the three-dimensional space, the three-dimensional model having a shape of a forearm or a shape of an entire arm of the operator.