US Patent No. 9,393,690

APPARATUS FOR INPUTTING TEACHING DATA AND APPARATUS AND METHOD FOR GENERATING TEACHING COMMAND FOR ROBOT


Patent No. 9,393,690
Issue Date July 19, 2016
Title Apparatus For Inputting Teaching Data And Apparatus And Method For Generating Teaching Command For Robot
Inventorship Hoo Man Lee, Daejeon (KR)
Joong Bae Kim, Daejeon (KR)
Assignee ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE, Daejeon (KR)

Claim of US Patent No. 9,393,690

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; and

a 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; and

a 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.