公开(公告)号：US20250091206A1

公开(公告)日：2025-03-20

申请号：US18293356

申请日：2021-08-27

Applicant: FANUC CORPORATION

Inventor： Yuutarou TAKAHASHI ,  Yuta NAMIKI ,  Shoutarou OGURA ,  Yuusuke MURATA

IPC: B25J9/16 ,  B25J13/06 ,  G06F3/04817

Abstract: A teaching device for performing program creation using an icon representing a function constituting a control program for an industrial machine is provided, the teaching device including: a state information acquisition unit that acquires state information indicating whether or not the icon constituting the control program can execute an anticipated action, or has performed execution thereof or not; and an information display creating unit that creates a display relating to the icon, so that whether or not the icon making can execute the anticipated action or has performed execution thereof or not can be visually recognized on the program creating screen, on the basis of the state information.

公开(公告)号：US20230089139A1

公开(公告)日：2023-03-23

申请号：US17908082

申请日：2021-03-16

Applicant: FANUC CORPORATION

Inventor： Yuusuke MURATA ,  Shouta TAKIZAWA

IPC: G06T7/50 ,  G06V20/64

Abstract: The present invention facilitates detection of an object imaged by a three-dimensional sensor. The image processing device includes: a distance calculating unit that, on the basis of three-dimensional data acquired by the three-dimensional sensor, calculates a distance between each of points in the three-dimensional data and a reference plane; a distance image creating unit that creates a distance image having pixel values constituted by values each calculated on the basis of the distance calculated by the distance calculating unit; and an image processing unit that carries out image processing on the distance image. The reference plane may be a bearing surface bearing the object or a surface parallel with the bearing surface. The reference plane may also be a surface of the object. The image processing device may include the three-dimensional sensor.

公开(公告)号：US20230090193A1

公开(公告)日：2023-03-23

申请号：US17906277

申请日：2021-03-24

Applicant: FANUC CORPORATION

Inventor： Yuusuke MURATA ,  Hiromitsu TAKAHASHI

IPC: B25J9/16 ,  G05B19/4155

Abstract: Provided is an off-line simulation system that enables performance of efficient vision correction training. This vision correction training system for vision correction training is provided with a head mount display capable of displaying an image in a virtual space, and a teaching device communicably connected to the head mount display. The teaching device has: a vision correction unit that, on the basis of a captured image captured by a camera after the position of a workpiece has been moved, performs vision correction on a predetermined movement; and a correction confirmation unit that confirms that the vision correction is appropriately performed on the predetermined movement.

公开(公告)号：US20190091866A1

公开(公告)日：2019-03-28

申请号：US16115562

申请日：2018-08-29

Applicant: FANUC CORPORATION

Inventor： Yuusuke MURATA

IPC: B25J9/16

Abstract: A robot controller, a measurement system and a calibration method, by which measurement regions for improving positioning accuracy of a robot can be appropriately generated. First and second measurement regions are specified in a movable range of the robot, the calibration of a mechanical parameter of the robot is executed in each measurement region, and calibration results are stored as first and second calibration results. When the difference between the calibration results exceeds a predetermined threshold, a third measurement region is specified between the first and second measurement regions, and the calibration is further executed in the third measurement region. The result of the further calibration is stored as a third calibration result.

公开(公告)号：US20170341234A1

公开(公告)日：2017-11-30

申请号：US15602980

申请日：2017-05-23

Applicant: FANUC CORPORATION

Inventor： Yuusuke MURATA

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  G05B19/4083 ,  G05B2219/39029 ,  G05B2219/40387

Abstract: A robot control apparatus includes a storage unit that stores an operating program and a kinematic parameter used in a formula representing a relationship between displacement of each drive axis of a robot and a position and an orientation of a leading end of the robot and a drive unit that operates the drive axis of the robot based on the operating program and the kinematic parameter stored in the storage unit. The storage unit stores the kinematic parameter before updating, and the drive unit corrects position data of at least one teaching point in the operating program based on the kinematic parameter before updating, stored in the storage unit, and the present kinematic parameter.