Apparatus for inputting teaching data and apparatus and method for generating teaching command for robot

摘要

An apparatus for inputting teaching data for a robot includes a first input interface configured to input teaching data of a path layer; and a second input interface configured to input teaching data of a task layer.

主权项

1. A control apparatus of a robot, the control apparatus comprising:
an input device that receives teaching data of a path layer and teaching data of a task layer, wherein the teaching data of the path layer is produced by a first sensing device that measures rotation angles of joints of a user, and wherein the teaching data of the task layer is produced by a second sensing device that photographs an image of a motion of the user; a computer processor comprising:
a teaching data interpretation device that interprets the teaching data of the path layer and the teaching data of the task layer; anda teaching data production device that produces a teaching command for controlling the robot using the teaching data of the path layer and the teaching data of the task layer interpreted by the teaching data interpretation module, wherein the teaching data interpretation device comprises:
a first interpreter that interprets the teaching data of the task layer into a sequence of the task layer using a preset learning algorithm; anda second interpreter that interprets the teaching data of the path layer into a robot path in a joint space or workspace of the path layer using a preset algorithm.