CN116901052A - System, method and computer program for supporting creation of action program of robot - Google Patents

Abstract

The present invention relates to a system, a method and a computer program supporting creation of an action program of a robot to prevent an arm posture of a robot arm from being inconsistent with a user's desire. The system of the present disclosure is provided with: a simulator for displaying a plurality of simulated images representing a plurality of arm postures that can be taken by the mechanical arm, with respect to the target position posture included in the action program; and a program modifying unit that reflects an arm posture parameter indicating one arm posture selected by the user from the plurality of arm postures as a parameter indicating an operation command to move to the target position posture.

Description

System, method and computer program for supporting creation of action program of robot

Technical Field

The present disclosure relates to systems, methods, and computer programs that support creation of an action program for a robot.

Background

In an industrial multi-joint robot, when a target position and posture of a finger tip is specified and an operation instruction of each joint is output, a joint angle for achieving the target position and posture is generally obtained from inverse kinematics of the robot. However, a plurality of solutions may be generated as the inverse kinematics solution.

Patent document 1 discloses a robot motion teaching support device that obtains a motion gesture of a robot at a subsequent position using a simulator, displays a screen, and determines that there is an interference of an inorganic robot at the subsequent position.

Patent document 1: japanese patent laid-open publication No. 2013-136123

Disclosure of Invention

However, the above-described conventional technique has a problem in that the arm posture of the robot arm reproduced by the inverse kinematics solution relating to the joint angle may be different from the arm posture desired by the user.

According to a first aspect of the present disclosure, there is provided a system for supporting creation of an operation program of a robot, the system including: a simulator for displaying a plurality of simulated images representing a plurality of arm postures that can be taken by the mechanical arm, with respect to the target position posture included in the action program; and a program modifying unit configured to reflect an arm posture parameter indicating one arm posture selected by a user from the plurality of arm postures as a parameter indicating an operation command to move to the target position posture.

According to a second aspect of the present disclosure, there is provided a method for supporting creation of an operation program of a robot, the method including: (a) Displaying a plurality of simulated images representing a plurality of arm postures which can be adopted by the mechanical arm with respect to the target position postures contained in the action program; and (b) reflecting an arm posture parameter indicating one arm posture selected by the user from the plurality of arm postures as a parameter indicating an action command to move to the target position posture.

According to a third aspect of the present disclosure, there is provided a computer program that causes a processor to execute a process of supporting creation of an action program of a robot, the computer program causing the processor to execute: (a) Displaying a plurality of simulated images representing a plurality of arm postures which can be adopted by the mechanical arm with respect to the target position postures contained in the action program; and (b) reflecting an arm posture parameter indicating one arm posture selected by the user from the plurality of arm postures as a parameter indicating an action command to move to the target position posture.

Drawings

Fig. 1 is an explanatory diagram showing a configuration of a robot system according to the embodiment.

Fig. 2 is a block diagram showing an internal structure of the information processing apparatus.

Fig. 3 is a flowchart showing a modification flow of the action program.

Fig. 4 is an explanatory diagram showing an example of a window for creating and modifying an operation program.

Fig. 5 is an explanatory diagram showing an example of the screen display of the simulator.

Fig. 6 is an explanatory diagram showing an example of screen display of a plurality of arm postures in the posture adjustment mode.

Fig. 7 is an explanatory diagram showing the posture of two arms with different Hand marks.

Fig. 8 is an explanatory diagram showing an operation procedure modified according to arm posture selection.

Description of the reference numerals

100 … robot; 110 … base; 120 … mechanical arm; 121 … first link; 122 … second link; 126 … arm ends; 150 … end effector; 200 … control means; 300 … information processing apparatus; 310 … processor; 311 … action program creation support; 312 … program creation unit; 314 … simulator; 316 … program modifier; 320 … memory; 330 … interface circuit; 340 … input device; 350 ….

Detailed Description

Fig. 1 is an explanatory view showing an example of a robot system according to an embodiment. The robot system includes a robot 100, a control device 200 that controls the robot 100, and an information processing device 300. The information processing apparatus 300 is, for example, a personal computer. The user can create or modify an action program of the robot 100 using the information processing apparatus 300. The control device 200 controls the operation of the robot 100 according to the operation program and instructions provided by the information processing device 300.

Three axes X, Y, Z of an orthogonal coordinate system defining a three-dimensional space are depicted in fig. 1. The X-axis and the Y-axis are axes in the horizontal direction, and the Z-axis is an axis in the vertical direction. These X, Y, Z axes are coordinate axes of the robot coordinate system Σr with a preset position of the robot 100 as an origin.

The robot 100 includes a base 110 and a robot arm 120. An end effector 150 is attached to the arm end 126, which is the end portion of the robot arm 120. In the example of fig. 1, end effector 150 is a clamp. The robot arm 120 has six joints J1 to J6, and the joints J1 to J6 are connected in order by links. Three joints J2, J3, J5 among the six joints J1 to J6 are bending joints, and the other three joints J1, J4, J6 are torsion joints. In the following description, the joints J1 to J6 are also referred to as "J1 axis to J6 axis". A TCP (Tool Center Point ) as a control point of the robot 100 is set near the distal end portion of the arm 120. The control point TCP can be set at an arbitrary position. In the present embodiment, a six-axis robot is shown as an example, but a robot having any arm mechanism having a plurality of joints can also be used. The robot 100 of the present embodiment is a vertical multi-joint robot, but a horizontal multi-joint robot may be used.

Fig. 2 is a block diagram showing the functions of the information processing apparatus 300. The information processing apparatus 300 includes a processor 310, a memory 320, an interface circuit 330, an input device 340 connected to the interface circuit 330, and a display device 350. The interface circuit 330 is also connected to the control device 200.

The processor 310 has a function of supporting creation of the action program RP of the robot as the action program creation support section 311. The action program creation support section 311 includes functions of a program creation section 312, a simulator 314, and a program modification section 316. The program creation unit 312 performs a process of creating the action program RP in accordance with the input of the user. The created action program RP is stored in the memory 320. The simulator 314 performs simulation for operating the robot 100 according to the operation program RP, and displays a simulation image thereof on the display device 350. The program modification section 316 executes processing for performing modification of the action program RP in accordance with the input of the user. The function of the operation program creation support section 311 is realized by the processor 310 executing a computer program stored in the memory 320. However, part or all of the functions of the operation program creation support section 311 may be realized by a hardware circuit.

The memory 320 stores a robot model RM and a robot operation program RP used by the simulator 314. The robot model RM is data for reproducing shapes and motions of one or more robots 100. The operation program RP is composed of a plurality of commands for operating the robot 100. The memory 320 stores one or more operation programs RP.

Fig. 3 is a flowchart showing a modification flow of the action program RP. In step S110, an action program of the modification object is selected by the user.

Fig. 4 is an explanatory diagram showing an example of the window W1 for creating and modifying the operation program RP. A selection menu MN for selecting an operation program, a button BT1 for indicating the start of simulation of the selected operation program, and a check box CB1 for indicating whether or not the posture adjustment mode is used are provided in an upper region of the window W1. The "posture adjustment mode" is a mode in which a plurality of solutions of joint angles obtained by calculation of inverse kinematics with respect to the target position posture of the operation command are displayed on the screen of the simulator 314, and a plurality of arm postures of the robot arm 120 reproduced in each solution are displayed. An execution button group DBT for instructing suspension and stop of the selected operation program is also provided in the upper region of the window W1. The user selects an action program as a modification object using the selection menu MN.

An operation program SRP selected using the selection menu MN is displayed in the area below the window W1. The operation program SRP is a program describing the pick-up and press operation, and the meanings of the rows L1 to L12 are as follows. The line numbers are added for convenience of explanation.

The operation commands of the lines L1, L3, L8, and L12 are PTP (Point To Point) operation commands, and a plurality of arm orientations can be obtained as a plurality of solutions for realizing inverse kinematics for the target position orientation of TCP. Therefore, when an operation command of PTP operation is executed by simulation, a screen displays a plurality of arm postures. The target position orientations P0, P1, and P2 of TCP are expressed by positions (x, y, z) and orientations (w, P, r) in a robot coordinate system, for example. The pose is represented by the rotation angles (w, p, r) around three axes.

The operation commands of the lines L4, L6, L9, and L11 are commands of CP (Continuous Path) operation. The CP operation is an operation that arrives with a trajectory specified by a straight line, an arc, or the like when the TCP moves from the current position posture to the target position posture. In the CP action, the current posture of the robot arm 120 is maintained in principle. When these motion commands are executed by simulation, only one arm posture may be displayed on the screen. However, with regard to the CP operation, a screen may be displayed with a plurality of arm postures. The commands of the other rows L2, L5, L7, L10 are part of the motion program SRP, but are not motion commands of the robot arm 120.

In this way, in the simulation of the posture adjustment mode, a plurality of arm postures are displayed on a part of the motion command screen, and only one arm posture is displayed on the other motion command screen. In the present disclosure, an action of displaying a plurality of arm postures on the screen in the posture adjustment mode is referred to as a "specific action". The specific action may also include an action other than the PTP action.

In step S120 of fig. 3, the simulation of the operation program SRP is started in accordance with the instruction of the user. Specifically, in the window W1 of fig. 4, when the button BT1 indicating the start of the simulation is pressed, the simulator 314 starts the simulation with respect to the selected operation program SRP. At this time, when the check box CB1 of the posture adjustment mode is checked, a plurality of arm postures are displayed on the screen in a specific operation. On the other hand, in the case where the check box CB1 of the posture adjustment mode is not checked, a plurality of commands in the action program SRP are continuously executed. Next, a simulation will be described in which the check box CB1 of the posture adjustment mode is checked.

In step S130, it is determined whether or not the operation command to be the execution target of the simulation is a specific operation. In the case of the specific operation, the processing from step S140 described later is executed. On the other hand, if the motion is not a specific motion, the process advances to step S170, where the arm posture of the next position posture is displayed on the screen as an analog image.

Fig. 5 is an explanatory diagram showing an example of screen display by the simulator 314. A simulation image of the robot 100 is displayed in the right region of the window W2 representing the simulation result, and the operating program SRP being executed is displayed in the left region of the window W2. However, the display of the operation program SRP may be omitted. In step S170, as shown in fig. 5, a simulation image representing one arm posture is displayed.

In step S180, it is determined whether or not there is a next operation command, and if not, the process of fig. 3 is ended. On the other hand, if there is a next action command, the process returns to step S130, and it is determined whether or not the next action command is a specific action. When the next motion command is a specific motion, the flow advances to step S140, where a plurality of analog images representing a plurality of arm postures are displayed on the screen.

Fig. 6 is an explanatory diagram showing an example of screen display of a plurality of arm postures. This example is an example of a case of simulating a PTP operation command. As described above, the PTP operation is a specific operation for displaying a plurality of analog images representing a plurality of arm postures.

A simulation image SM0 indicating the current arm posture and an operating program SRP in execution are displayed in the left region of the window W3 in fig. 6. However, these displays may be omitted.

In the region on the right side of the window W3, a plurality of arm poses of the target position pose P1 are displayed as simulation images SM1 to SM4. In each of the simulation images, the following three marks are displayed as arm posture parameters PAP for distinguishing the posture of the robot arm 120.

(1) Hand sign

The Hand flag is a first flag that distinguishes between two poses that the robot arm 120 can take by rotation of the J1 axis and the J2 axis.

Fig. 7 is an explanatory diagram showing the posture of two arms with different Hand marks. The Hand is denoted by "Right" (Right wrist system) and is a normal arm posture in which the first link 121 extends in the +x direction from the J1 axis and the second link 122 continues to extend in the +x direction from the J2 axis. That is, the case where the Hand flag is "Right" assumes an arm posture in which the first link 121 and the second link 122 extend in substantially the same direction. On the other Hand, the Hand is denoted by "Left" (Left wrist system) and the J1 axis and the J2 axis are rotated, and the first link 121 is extended in the-X direction from the J1 axis, and the second link 122 is extended in the +x direction from the J2 axis. That is, the case where the Hand flag is "Left" assumes an arm posture in which the first link 121 and the second link 122 are bent and extended reversely with each other. Hand marks "Right" and "Left" are distinguished by "/R" and "/L" in the action program SRP.

(2) Elbow marker

The Elbow flag is a second flag that distinguishes between two poses that the robot arm 120 can take by rotation of the J3 axis. The J3 axis is the joint corresponding to the human elbow. For example, when the Y coordinate of the target position posture is positive, the Elbow is denoted by "Above" when the portion corresponding to the Elbow of the human arm is located on the upper side, and is denoted by "Below" when the portion corresponding to the Elbow of the human arm is located on the lower side. The "Above" and "Below" of the Elbow markers are distinguished by "/a" and "/B" in the action program SRP. The simulation images SM1, SM3 represent two arm poses that differ only by the Elbow flag. The same applies to the simulation images SM2 and SM4.

(3) Wrist flag

The write flag is a flag that distinguishes between two poses that the robot arm 120 can take by rotation of the J5 axis. The J5 axis is a joint corresponding to a human wrist. For example, the write flag is "NoFlip" when the portion corresponding to the Wrist of the person is located on the upper side, and "Flip" when the portion corresponding to the Wrist of the person is located on the lower side. The "NoFlip" and "Flip" of the Wrist flag are distinguished by "/N" and "/F" in the action program SRP. The simulation images SM1, SM2 represent two arm poses differing only in the write flag. The same applies to the simulation images SM3 and SM4.

Eight combinations of the above three flag values are combined, but only four of them are shown in fig. 6. However, with respect to all combinations of the values of the flags, analog images representing the arm attitudes may also be displayed. Further, the simulator 314 is preferably configured not to display an arm posture of a part of the robot arm 120 out of a predetermined operation range as an arm posture that the robot arm 120 can take. In this way, the improper arm posture of the robot arm 120 is not displayed as a candidate, so that the user can more easily select the proper arm posture.

Further, it is preferable that the simulator 314 is configured to be able to select whether or not to display a plurality of arm postures which the robot arm 120 can take, with respect to at least one of the arm posture in which the robot arm 120 itself collides and the arm posture in which the robot arm 120 collides with a peripheral object. The term "arm posture of the robot arm 120 itself is defined as meaning that the robot arm 120 strikes another part of the robot 100. The "peripheral object" refers to an object other than the robot 100. The surrounding objects are also referred to as "external obstructions" or "obstructions". In a window W3 of fig. 6, check boxes CB2, CB3 for designating whether to display by a user are provided for both arm postures. For example, when one of the arm postures that the robot arm 120 can take is not displayed in a state where the check boxes CB2, CB3 are not checked, the user can display the arm posture that the robot arm 120 collides with itself and the arm posture that the robot arm 120 collides with a peripheral object by checking the check boxes CB2, CB3. As a result, it can be confirmed whether or not the arm posture causes these problems. In the case of an impact with a surrounding object, it is preferable that the surrounding object is also displayed in the simulation image. In the case of displaying the arm posture in which the impact is generated, it is preferable to change the color of the arm portion in which the impact is generated to a specific color, thereby displaying the impact portion in a recognizable manner.

In this way, the simulator 314 can easily confirm the relationship between the plurality of arm orientations and the arm orientation parameter PAP by displaying the arm orientation parameter PAP for each of the plurality of arm orientations. As the arm posture parameter PAP, only some of the three marks described above may be used, or marks other than those related to the axis may be used. In addition, the display of the arm posture parameter PAP may be omitted.

With respect to a four-axis horizontal multi-joint robot (scalar robot), the arm posture parameter PAP may be constituted by one arm posture flag. The arm pose indicator distinguishes between two poses that the mechanical arm can take by rotation of the first and second axes, both of which are torsional joints. The arm posture mark may be configured to distinguish whether the robot arm serving as the arm of the person is oriented in a direction corresponding to the right arm or in a direction corresponding to the left arm in a plan view.

The estimated movement time ET from the current position posture to the target position posture is also displayed in the simulation images SM1 to SM4. The estimated movement time ET refers to an estimated value of the time required for movement from the current position posture to the target position posture. The estimated movement time ET is an estimated time in consideration of a plurality of operation parameters such as speed, acceleration, load, and inertia set by the operation program SRP. The user may select a preferred arm posture with reference to the estimated movement time ET. However, the display of the estimated movement time ET may be omitted.

In addition, as the analog image, a moving image may be used instead of a still image. As the moving image, for example, a moving image indicating an operation from the current position posture to the target position posture can be used. Further, a moving image having a frame rate lower than the usual frame rate, that is, 30 frames/sec, such as a moving image may be used. In the case of using moving images, it is preferable that buttons for instructing start and stop of playback are provided for each moving image. If the analog image is displayed as a moving image, it can be confirmed whether the robot arm 120 performs an appropriate operation.

In step S150 of fig. 3, one arm posture is selected by the user. Specifically, the user selects the most preferable arm posture among the plurality of arm postures displayed in the window W3 of fig. 6 with the pointer PT, and presses the selection completion button BT2, thereby selecting a preferable one of the arm postures. In the example of fig. 6, a simulation image SM2 in which the second arm posture is selected is shown. In this case, "hand=right", "elbow=above", "write=flip" is selected as the arm posture parameter PAP.

In step S160, the program modification unit 316 modifies the operation program SRP in accordance with the selection of the arm posture.

Fig. 8 is an explanatory diagram showing an action program SRP modified according to arm posture selection. In this example, line L3 of the action program SRP is modified, which differs from fig. 4 only in this point. That is, the parameters "/R/a/F" indicating that the arm posture parameter PAP is "hand=right", "elbow=above", "write=flip" are reflected in the line L3. The modification is performed by the program modification section 316. The robot 100 executes the operation program SRP thus modified, and when the target position posture P1 is reached, the robot 100 operates so that the arm 120 assumes the arm posture specified by the arm posture parameter PAP. In addition, when the user selects one arm posture in fig. 6, the actual robot 100 may be operated so that the actual robot arm 120 takes the next target position posture P1 in response to this.

When the modification of the operation program SRP is completed, the flow proceeds to step S170, and the simulated image representing the arm posture at the next target position posture P1 is displayed on the screen, as in the case of fig. 5 described above. In step S180, it is determined whether or not there is a next operation command, and if there is a next operation command, the process returns to step S130, and the above-described process is executed again. On the other hand, when there is no next operation command, the process of fig. 3 ends.

If the check box CB1 of the posture adjustment mode is not checked in the window W1 shown in fig. 4, steps S130, S170, and S180 are repeatedly executed in this order, and a simulation image showing one arm posture is displayed for each operation command as shown in fig. 5. In this case, the value of the arm posture parameter for determining one of the target position postures of the respective operation commands is determined in accordance with a predetermined rule.

As described above, in the above-described embodiment, with respect to the target position posture indicated by the action command, the screen displays a plurality of analog images indicating a plurality of arm postures that the robot arm 120 can take. Then, an arm posture parameter PAP indicating one of the arm postures selected by the user is reflected as a parameter of the operation command. Therefore, the user can select a desired arm posture by observing the candidates of the plurality of arm postures which can be taken at the target position posture without actually operating the robot. And, the action program can be modified to cause the robotic arm 120 to take the selected arm pose.

As for a robot having seven or more joints, a plurality of simulation images representing a plurality of arm postures that can be taken by the robot arm may be displayed, as in the case of the six-axis robot. In this case, four or more markers are preferably used as the arm posture markers constituting the arm posture parameter. In this way, with respect to the robot having the redundant degree of freedom, it is also possible to display a plurality of arm postures that the robot arm can take on the screen for the user to select.

Other ways:

the present disclosure is not limited to the above-described embodiments, and can be implemented in various ways within a scope not departing from the spirit thereof. For example, the present disclosure can also be realized by the following means (aspect). The technical features in the above embodiments, which correspond to the technical features in the embodiments described below, can be replaced and combined as appropriate in order to solve part or all of the problems of the present disclosure, or in order to achieve part or all of the effects of the present disclosure. In addition, this feature can be deleted appropriately if it is not described as an essential feature in the present specification.

(1) According to a first aspect of the present disclosure, a system supporting creation of an action program for a robot is provided. The system is provided with: a simulator for displaying a plurality of simulated images representing a plurality of arm postures which can be taken by the mechanical arm on a screen with respect to the target position posture included in the action program; and a program modifying unit configured to reflect an arm posture parameter indicating one arm posture selected by a user from the plurality of arm postures as a parameter indicating an operation command to move to the target position posture.

According to this system, without actually causing the robot to perform an action, the user can select a desired arm posture by observing candidates of a plurality of arm postures that can be taken at the target position posture, and can modify an action program to cause the mechanical arm to take the selected arm posture.

(2) In the above system, the simulator may display the arm posture parameters for each of the plurality of arm postures.

According to this system, the user can easily confirm the relationship between the plurality of arm postures and the arm posture parameters.

(3) In the above system, the robot may be a six-axis robot having the mechanical arm with the following structure: the first, fourth and sixth axes as torsion joints and the second, third and fifth axes as bending joints are connected in this order by links from the first axis to the sixth axis. The arm posture parameters may include: a first flag that distinguishes between two poses that the robot arm can take by rotation of the first shaft and the second shaft; a second mark for distinguishing two postures which can be adopted by the mechanical arm through the rotation of the third shaft; and a third mark for distinguishing two postures which can be adopted by the mechanical arm through the rotation of the fifth shaft.

According to the system, three markers can be used to distinguish between multiple poses that a six-axis robotic arm can take.

(4) In the above system, the simulator may be configured not to display an arm posture of a part of the robot arm out of a predetermined operation range as the plurality of arm postures which the robot arm can take.

According to this system, the improper arm posture of the robot arm is not displayed as a candidate, so the user can more easily select the proper arm posture.

(5) In the above system, the simulator may be configured to be capable of selecting whether or not to display at least one of an arm posture of the robot arm itself, and an arm posture of the robot arm striking a peripheral object, as the plurality of arm postures the robot arm can take.

According to this system, it is possible to confirm whether or not the robot arm has bumped itself or bumped with a surrounding object.

(6) In the above system, the simulator may be configured to display estimated movement times from the current position posture to the target position posture, respectively, with respect to a plurality of arm postures that the robot arm can take.

According to this system, the estimated movement time is displayed for a plurality of arm orientations, so that the user can more easily select an appropriate arm orientation.

(7) In the above system, the simulation image may be a moving image representing an operation from a current position posture to the target position posture.

According to this system, it is possible to confirm whether the robot arm performs an appropriate movement.

(8) According to a second aspect of the present disclosure, a method of supporting creation of an action program for a robot is provided. The method comprises the following steps: (a) A step of displaying a plurality of simulated images representing a plurality of arm postures that can be taken by the robot arm on a screen with respect to the target position posture included in the operation program; (b) And reflecting an arm posture parameter indicating one arm posture selected by the user from the plurality of arm postures as a parameter indicating an operation command to move to the target position posture.

According to a third aspect of the present disclosure, there is provided a computer program for causing a processor to execute a process of supporting creation of an action program of a robot. The computer program causes the processor to perform: (a) A process of displaying a plurality of simulated images representing a plurality of arm postures that can be taken by the robot arm on a screen with respect to the target position posture included in the action program; (b) And processing for reflecting an arm posture parameter indicating one arm posture selected by the user from the plurality of arm postures as a parameter indicating an operation command to move to the target position posture.

The present disclosure can also be implemented in various ways other than the above. For example, the present invention can be implemented as a robot system including a robot and a control device, a computer program for realizing the functions of the control device, a nonvolatile recording medium (non-transitory storage medium) on which the computer program is recorded, or the like.

Claims (9)

1. A system for supporting creation of an operation program for a robot, comprising:

a simulator for displaying a plurality of simulated images representing a plurality of arm postures that can be taken by the mechanical arm, with respect to the target position posture included in the action program; and

and a program modifying unit configured to reflect an arm posture parameter indicating one arm posture selected by a user from the plurality of arm postures as a parameter indicating an operation command to move to the target position posture.

2. The system for supporting creation of an action program for a robot according to claim 1, wherein,

the simulator displays the arm posture parameters for the plurality of arm postures, respectively.

3. The system for supporting creation of an action program for a robot according to claim 2, wherein,

the robot is a six-axis robot with the mechanical arm having the following structure: the first, fourth and sixth shafts as torsion joints and the second, third and fifth shafts as bending joints are connected in sequence from the first shaft to the sixth shaft through a link rod,

the arm pose parameters include: a first flag that distinguishes between two poses that the robot arm can take by rotation of the first shaft and the second shaft; a second mark for distinguishing two postures which can be adopted by the mechanical arm through the rotation of the third shaft; and a third mark for distinguishing two postures which can be adopted by the mechanical arm through the rotation of the fifth shaft.

4. The system for supporting creation of an action program for a robot according to claim 1, wherein,

the simulator is configured not to display arm postures in which a part of the robot arm is out of a predetermined range of motion as the plurality of arm postures that the robot arm can take.

5. The system for supporting creation of an action program for a robot according to claim 4, wherein,

the simulator is configured to be able to select whether or not to display the plurality of arm postures which the robot arm can take, in relation to at least one of the arm postures in which the robot arm itself collides and the arm postures in which the robot arm collides with a peripheral object.

6. The system for supporting creation of an action program for a robot according to claim 1, wherein,

the simulator is configured to display estimated movement times from a current position posture to the target position posture, respectively, with respect to a plurality of arm postures that the robot arm can take.

7. The system for supporting creation of an action program for a robot according to any one of claims 1 to 6, wherein,

the simulation image is a dynamic image representing an action from a current position posture to the target position posture.

8. A method for supporting creation of an action program for a robot, comprising the steps of:

(a) Displaying a plurality of simulated images representing a plurality of arm postures which can be adopted by the mechanical arm with respect to the target position postures contained in the action program; and

(b) An arm posture parameter indicating one arm posture selected by the user from the plurality of arm postures is reflected as a parameter indicating an action command to move to the target position posture.

9. A computer program, characterized in that,

the computer program causes a processor to execute a process of supporting creation of an action program of a robot, the computer program causing the processor to execute:

(a) Displaying a plurality of simulated images representing a plurality of arm postures which can be adopted by the mechanical arm with respect to the target position postures contained in the action program; and

(b) An arm posture parameter indicating one arm posture selected by the user from the plurality of arm postures is reflected as a parameter indicating an action command to move to the target position posture.