JP2008142788A - Operation program preparation supporting method and operation program preparing device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prepare an operation program for a robot efficiently. <P>SOLUTION: This operation program preparing device 1 is provided with a program preparing part 11 allowing a program preparing worker to arrange an icon on a program, an order interpreting part 13 for detecting and interpreting the arranged program, a simulation part 14 for simulating the operation program up to the arranged icon by corresponding to the robot automatically, and a result evaluation part 15 for evaluating whether the arranged icon can be executed or not and informing the program preparing worker of the results of evaluation through GUI. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention provides a GUI (Graphical User Interface) for a robot operation program, that is, a user interface that can use most graphics for displaying information to the user and perform most basic operations with a pointing device such as a mouse. The present invention relates to an operation program creation support method for creating graphically by using and an operation program creation apparatus using the operation program creation support method.

In the conventional robot operation program creation, the created operation program is confirmed by simulation, and if an inconvenience of the operation is found, that part of the operation program is corrected and confirmed again by simulation. For example, the “robot simulation device” disclosed in Patent Document 1 displays a robot language by text and a robot model by simulation on a screen.
FIG. 7 is a display example of the display screen of the “robot simulation device” disclosed in Patent Document 1. In FIG. 7, 211 is the left half of the CRT display, 212 is the right half of the CRT display, and 213 is the cursor. An operation program created in the robot language is displayed on the left half 211 of the CRT display, and a graphic symbolizing the robot is displayed on the right half 212. Reference numeral 213 denotes a portion describing an operation to be executed next when the simulation is executed.
Since there are labels of various commands at the bottom of the screen, when text that describes the robot operation program is created by selecting insertion / deletion / correction / execution with the cursor 213, it is displayed on the left half 211 of the screen. At the same time, the text management unit reads this text, sends it to the interpreter unit, interprets the text in the interpreter unit, and if the content is to operate the robot, extracts the trajectory / point data for the operation, Send to control unit. The robot controller generates a robot control signal based on the received trajectory / point data and sends it to the simulator. The simulator displays the symbolized robot on the right half 212 of the CRT display, and the robot controller Based on the robot control signal sent from, the robot motion is displayed in animation.
In this way, according to Patent Document 1, the verification and correction of the program is easily and efficiently performed.

A “program creation device” disclosed in Patent Document 2 is also known.
The purpose of this is to create an operation program efficiently. When a line of an operation program created in the robot language is specified, if the command on that line is a movement command, the position data is written according to the specified parameter. The display and the robot model are displayed.
FIG. 8 is a display example 1 of the display screen of the “program creation device” disclosed in Patent Document 2, and FIG. 9 is a display example 2 of the display screen.
The present invention relates to an instruction character string indicating an instruction content and instruction data having a parameter number of numerical data corresponding to the instruction content; the input means for inputting the numerical data; the instruction data and the numerical value input by the input means Storage means for storing data and setting and storing a specific instruction character string in advance, whether or not the instruction character string input by the input means is the same as the instruction character string set and stored in the storage means Instruction interpreting means for interpreting the instruction character string, and when the instruction interpreting means determines that the instruction character string is the same as the instruction character string preset and stored, the parameter number of the instruction data having the instruction character string is set to Based on the data management means for reading out the numerical data corresponding to the command data from the storage means, the read out by the management means Display control means for displaying value data together with the command data on the display device, and when the command data and the numerical data are displayed on the display screen of the display device by the display control means, the control object based on the numerical data It models and displays the posture of an object.

In FIG. 8, 23A is a display screen displayed by the display device, 231 is a command window for displaying command data, 232 is a position window for displaying position data, and 2311 is a command line for command data in which the operator is paying attention. .
When the attention line 2311 is moved to the movement command line by the cursor in this way, the display screen 232 is displayed on the display device, and the position data is displayed.
On the display screen 23A shown in FIG. 9, when one of the operation programs 231 is designated with a cursor, the model of the robot according to the parameter is displayed in the model window 234 when the line 2311 is a movement command. Will come to be.
Also, it is evaluated whether the parameter is within the operating range of the robot, and if there is a problem, it is notified by display.
JP-A-1-250109 (FIG. 3) Japanese Patent No. 3435954 (FIGS. 3 and 9)

However, in the method of confirming the operation program created according to Patent Document 1 by executing a simulation, it is necessary to repeatedly execute the simulation and the program correction until there is no problem in the operation of the robot. Since simulation is performed, it cannot be said that the efficiency of operation program creation is high.
In addition, in the method of evaluating the command parameters of Patent Document 2 using the robot motion range table, the evaluation is performed using only one point of the given parameters. Therefore, relative commands such as relative movement and relative speed change are not used. There is a problem that it is not possible to deal with, and the value given by the parameter is within the operating range, but if the actual machine is operated and interference etc. occur and it can not be operated, there is a problem that the inconvenience of operation is not known until it is actually operated .
The present invention has been made in view of such problems, and an object of the present invention is to provide an operation program creation support method and an operation program creation apparatus capable of efficiently creating an operation program that is not inconvenient for the operation of the robot. To do.

In order to solve the above-mentioned problem, the invention according to claim 1 relates to a motion program creation support method, wherein icons (graphical symbols) representing commands to the robot are arranged in the order of motion using a GUI. In an operation program creation support method of an operation program creation device for creating an operation program, the program creator detects that the icon has been arranged on the program, and a simulation unit corresponding to the robot detects the operation program up to the arranged icon The result evaluation unit evaluates whether or not the placed icon can be executed automatically, and supports the creation of an operation program by notifying the program creator of the evaluation result through the GUI. It is said.
According to a second aspect of the present invention, in the motion program creation support method according to the first aspect, when the icon is newly placed, the robot state such as the joint angle and speed of the robot can be specified. Searching for an icon on the operation program and going back, the simulation unit performs a simulation from a position where the state of the robot can be specified to the newly placed icon.
The invention according to claim 3 is the operation program creation support method according to claim 1, wherein the state of the robot simulated by the simulation unit with the icon arranged last is held, and the robot arranged last is used. When an icon representing a command to the robot is newly placed at the next position of the icon, a simulation is performed from the held state of the robot to reduce the time required for icon evaluation.
According to a fourth aspect of the present invention, in the motion program creation support method according to the first aspect, when the icon is inserted in the middle of the motion program, the state of the robot is specified from the position of the inserted icon. The operation program is traced back to a position where the operation can be performed, the icon inserted from the specified position is simulated by the simulation unit, the result evaluation unit evaluates whether the icon can be inserted, and the evaluation result is determined by the program creator. And through the GUI, then the simulation unit simulates from the inserted icon to the icon arranged at the end of the operation program, evaluates by the result evaluation unit, and inserts the icon If a problem occurs, the problem It is characterized by supporting the creation operation program by notifying via the GUI the configuration in the program creator.
According to a fifth aspect of the present invention, in the motion program creation support method according to the first aspect, when the icon in the middle of the motion program is deleted, the state of the robot is specified from the position of the inserted icon. The operation program is traced back to a position where it can be performed, the simulation unit simulates the position from the identified position to the icon arranged at the end of the program, the evaluation is performed by the result evaluation unit, and the icon is deleted. When a problem occurs, the operation program creation is supported by notifying the program creator through the GUI of the icon in which the problem occurs.
According to a sixth aspect of the present invention, in the operation program creation support method according to the first aspect, the state of the robot at each icon obtained by the simulation unit is recorded in each icon, and the icon is edited. The time required for the simulation and the evaluation in the result evaluation unit is shortened by using the state of the robot recorded in the immediately preceding icon for the simulation by the simulation unit.
According to a seventh aspect of the present invention, in the operation program creation support method according to the first aspect, when the icon requests a parameter, the operation of the robot stored in the simulation unit and the storage unit in advance is performed. A range of parameter values that can be input is obtained from the range information and presented to the program creator through the GUI to assist in creating an operation program.
According to an eighth aspect of the present invention, there is provided an operation program creating apparatus, wherein an operation (creating a robot operation program) is created by arranging icons (graphical symbols) representing commands to the robot in the order of operation using a GUI. In the program creation device, the program creator corresponds to the robot a program creation unit that places the icon on the program, a command interpretation unit that detects and interprets the placed program, and an operation program up to the placed icon And a simulation unit that automatically simulates, and a result evaluation unit that evaluates whether the arranged icon is executable and notifies the program creator of the evaluation result through the GUI. .
Further, the invention according to claim 9 is the operation program creation device according to claim 8, wherein when the icon is newly arranged, the robot state such as a joint angle and a speed of the robot can be specified. A program search unit that searches and searches for icons on the operation program is provided, and the simulation unit performs a simulation from a position where the state of the robot can be specified to the newly arranged icon.
Further, the invention described in claim 10 is the operation program creation device according to claim 8, wherein the state of the robot simulated by the simulation unit with the icon arranged last is held, and the icon arranged last is used. When a new icon representing a command to the robot is placed at the next position, a simulation unit that performs a simulation from the state of the held robot is provided to reduce the time required for icon evaluation .
In the motion program creation device according to claim 8, when the icon is inserted in the middle of the motion program, the state of the robot can be specified from the position of the inserted icon. The operation program is traced back to the position, the icon inserted from the identified position is simulated by the simulation unit, the result evaluation unit evaluates whether the icon can be inserted, and the evaluation result is sent to the program creator. Notifying through the GUI, then simulating from the inserted icon to the icon placed at the end of the operation program by the simulation unit, evaluating by the result evaluation unit, and inserting the icon If a problem occurs, the problem It is characterized by notifying through the GUI a on to the program creator.
According to a twelfth aspect of the present invention, in the motion program creation device according to the eighth aspect, when the icon in the middle of the motion program is deleted, the state of the robot can be specified from the position of the inserted icon. The operation program is traced back to the position, and the simulation unit simulates the position from the identified position to the icon arranged at the end of the program, evaluates by the result evaluation unit, and deletes the icon. When the problem occurs, an icon causing the problem is notified to the program creator through the GUI.
According to a thirteenth aspect of the present invention, in the motion program creating device according to the eighth aspect, when the state of the robot at each icon obtained by the simulation unit is recorded in each icon and the icon is edited By using the state of the robot recorded in the immediately preceding icon for the simulation by the simulation unit, the time required for the simulation and the evaluation in the result evaluation unit is shortened.
According to a fourteenth aspect of the present invention, in the operation program creating device according to the eighth aspect, when the icon requests a parameter, the operating range of the robot stored in the simulation unit and the storage unit in advance. A range of parameter values that can be input is obtained from the information and presented to the program creator through the GUI.

According to the present invention, it is possible to surely know a command that causes an inconvenience in operation when the operation program is input, and an operation program can be created efficiently.
Further, since the simulation is executed retroactively to the position where the state of the robot is determined, the command execution can be evaluated even in the case of a command using a relative value as a parameter.
Further, since it is not necessary to perform a simulation from the beginning of the operation program, the time required for the simulation can be shortened, and the operation program can be created efficiently.
In addition, since the state of the robot by simulation is recorded in the immediately preceding icon, the simulation execution time can be shortened and an operation program can be created efficiently.
In addition, since the simulation is automatically executed when the icon is inserted or deleted in the middle of the program, it is possible to know an icon which is inconvenient for the operation.
Further, since the robot state recorded in the immediately preceding icon can be used for the simulation, the time required for the simulation can be shortened and an operation program can be efficiently created.
In addition, since a range of parameters that can be input is presented, an operation program can be created efficiently.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram showing an operation program creation device according to Embodiment 1 of the present invention.
In FIG. 1, reference numeral 1 denotes an operation program creation apparatus using an operation program creation support method according to the present invention. Reference numeral 11 denotes a program creation unit that controls the overall creation of an operation program by arranging icons (graphical symbols). A command interpretation unit 13 interprets the operation program created by the program creation unit 11 and sends a command to the simulation unit 14. The command interpretation unit 13 can be interpreted from the beginning of the operation program and can be interpreted from a designated halfway position. The simulation unit 14 performs an operation simulation of the robot in accordance with a command from the command interpretation unit 13 that has interpreted the operation program. When the simulation unit 14 operates in response to a command from the command interpretation unit 13, a warning is issued if a deviation or interference of the operation range occurs. Reference numeral 15 denotes a result evaluation unit, which evaluates whether or not the operation by the simulation in the simulation unit 14 has been performed without any problem from the warning information from the simulation unit 14 and sends the result to the program creation unit 11. Reference numeral 16 denotes a storage unit, which records the operation program created by the program creation unit 11 and various data used by the program creation unit 11, such as icon shape data. Reference numeral 17 denotes a keyboard for operating the program creation unit 11, for example, inputting parameter values. Reference numeral 18 denotes a mouse, which, like the keyboard 17, performs operations of the program creation unit 11, for example, icon placement. Reference numeral 19 denotes a display device that displays an operation program or the like created by the program creation unit 11.

FIG. 2 is a diagram showing an example of the display of the created operation program, which is displayed on the display device 19.
In FIG. 2, boxes connected by a plurality of arranged lines are icons representing control of the operation program and commands to the robot. For example, in the figure, the icons indicated by the icons I1 Begin and I9 End indicate the start and end of the operation program, and the icons indicated by the I2 Robot ID indicate the robot to which the following icon is the target. Icon to specify.
The icons displayed as SetSpd of I3, MLefts of I4 and I8, and MLinear of I5 to I7 are icons indicating commands to the robot, and are respectively an operation speed command, an operation command by specifying a joint angle, and an operation command by linear interpolation. Represents. It is necessary to set parameters such as speed, angle, and coordinates for an icon representing a command to the robot. As a setting method, there are several methods such as clicking on each icon to display a parameter input window and inputting a parameter.
The command interpreter 13 interprets and executes the icons of such operation programs in the order in which they are connected by lines.

FIG. 3 is a flowchart showing a processing procedure of a main part that supports operation program creation in the operation program creation device. Hereinafter, the processing of the first embodiment of the present invention will be described step by step with reference to this figure.
First, on the operation program input screen as shown in FIG. 2, the program creator places an icon in the program creation unit 11 (S1).
When the arranged icon is an icon related to the operation of the robot such as a movement command or a speed setting command (S2), the command interpreting unit 13 interprets up to the icon immediately before the arranged icon, and uses the simulation unit 14. Simulation is executed (S3).
Here, S2 to S3 are automatically executed by the program creation unit 11 when the program creator places an icon. At this stage, since it is known that there is no error in the previous simulation execution not described here, it is not necessary to evaluate the result.
Next, parameters such as a joint angle and a speed value are input to the icons arranged by the program creator using the program creation unit 11 (S4).
When the input of parameters to the arranged icon is confirmed, a simulation from the immediately preceding icon to the arranged icon is performed using the command interpretation unit 13 and the simulation unit 14 (S5).
S5 is also automatically performed in the same manner as S2 and S3.
Based on the result of the simulation in S5, the result evaluation unit 15 is used to evaluate whether there is an error such as a deviation of the operation range or an excess of the operation speed (S6).
In the evaluation in S6, if there is no error due to simulation, the arranged icon can operate without any problem even in the actual machine, so the process returns to S1 and the operation program creation is continued. When an error due to simulation is detected in the evaluation of S6, a message indicating that the icon arranged on the display device 19 is inoperable and the reason is displayed (S7). Since the operation program is not executable as it is, the program creator edits the icon such as deleting the icon or re-entering the parameter (S8).
If the icon editing is a parameter re-input, the process returns to S4 and the execution is continued. If the arranged icon is deleted or a new icon is arranged, the process returns to S1 and continues to be executed (S9).
In this way, simulation is performed at the time of icon placement, and verification that the placed icons are not inconvenient in operation is automatically performed, so that an operation program without inconvenience in operation can be efficiently created.

Embodiment 2 of the present invention will be described below with reference to the drawings.
FIG. 4 is a block diagram showing an operation program creation apparatus according to Embodiment 2 of the present invention.
In FIG. 4, the configuration different from FIG. 1 of the first embodiment is that 12 program search units are added. When a new icon is arranged by the program creation unit 11, the program search unit 12 goes back to the operation program from the arranged icon position, and searches for an icon in which the state such as the joint angle and the operation speed of the robot is fixed. .
In addition, the description which overlaps about the program preparation part 11, the command interpretation part 13, the simulation part 14, the result evaluation part 15, the memory | storage part 16, the keyboard 17, the mouse | mouth 18, and the display apparatus 19 which are the same structures as FIG. Omitted.

FIG. 5 is a flowchart showing a processing procedure of a main part of the program creation device shown in FIG.
Hereinafter, the processing of the second embodiment will be described with reference to FIG.
First, the program creator arranges icons as in the first embodiment (S11).
When the arranged icon is an icon related to an operation such as a movement command or a speed setting command (S12), the program search unit 12 is used to trace the operation program from the newly arranged icon to determine the absolute joint angle of the robot. An icon for determining the value and the operation speed value is searched (S13).
Next, from the icon searched by the program search unit 12 to immediately before the newly placed icon is sent to the command interpretation unit 13 and simulated using the simulation unit 14 (S14).
Here, S12 to S14 are automatically executed when an icon is arranged by the program creator as in the first embodiment.
Next, when a parameter is input to the arranged icon as in the first embodiment (S15), a simulation from the immediately preceding icon to the arranged icon is executed by the command interpretation unit 13 and the simulation unit 14 (S16).
Hereinafter, S17 to S19 and subsequent processes are the same as S6 to S8 and subsequent processes of the first embodiment.
As described above, the time required for the simulation can be shortened by searching for the icon position where the state of the robot can be determined at the time of icon arrangement and simulating only that portion.
In addition, the icon can be evaluated even when an icon representing a relative movement command is arranged to search for a position where the state of the robot is determined.

FIG. 6 is a flowchart showing the processing procedure of the main part of the program creation device according to Embodiment 3 of the present invention.
Hereinafter, the processing of the third embodiment will be described with reference to FIG.
First, as in the previous embodiment, the program creator arranges icons (S21). Subsequently, a parameter is input to the icon (S22).
Next, it is determined whether or not the arranged icon is an icon related to the operation (S23), and if it is not related to the operation, the process returns to S21 and continues from the icon arrangement. If it is related to the operation, the process proceeds to S24, and a simulation is performed on the newly arranged icon from the latest state of the robot on the simulation recorded in S26 described later by the previous icon arrangement not described (S24).
The simulation result is evaluated (S25). If there is no error in the simulation, the current robot state is recorded in the simulation unit 14 or by some other means (S26), and the process returns to S21 and continues from the icon arrangement. If there is an error in the simulation, the same processing as in the previous embodiment is performed.
By performing the process according to the above procedure, the newly placed icon is simulated from the latest state of the previous simulation, so the time required for the simulation can be greatly reduced and the response speed of the operation program creation device can be improved. The efficiency of creating an operation program can be increased.

Hereinafter, as a process according to the fourth embodiment, a case where an icon in the middle of the operation program is deleted or inserted will be described.
First, when an icon in the middle of the operation program is deleted, an icon that can determine the state of the robot is searched from the icon immediately before the deleted icon using the program search unit 12 as in the second embodiment.
Next, when the icon immediately before and after the deleted icon is connected, or when a new icon is inserted at the position of the deleted icon, the icon from the search result to the end of the operation program. A simulation is executed using each unit, and the result evaluation unit 15 performs evaluation. As a result of the evaluation, if there is no inconvenience in the operation of any icon, execution is continued from the icon arrangement. As a result of the evaluation, when an operation is inconvenient for any of the icons, the inconvenient icon and the inconvenient content are displayed on the display device 19.
The same applies to the case where an icon is inserted in the middle of the operation program without deleting the intermediate icon, and an icon that can determine the state of the robot is searched using the program search unit 12 from the position immediately before the inserted icon. .
Next, a simulation is performed using each part to the end of the operation program including the icon inserted from the icons obtained as a result of the search, and the result is evaluated. The subsequent processing is the same as the processing described above.
As described above, since the operation program creation support method of the present invention can be exhibited even when an icon in the middle of the operation program is deleted or a new icon is inserted, the operation program is efficiently created. be able to.
Further, in S26 in the third embodiment, the robot state is set for each icon and is held as it is, and a simulation is performed using the robot state recorded in the icon related to the operation immediately before the icon that has been deleted or inserted. By doing so, the time required for the search by the program search unit can be shortened, and the operation program creation efficiency can be increased by improving the reaction speed of the operation program creation device.

As described above, it is possible to efficiently create an operation program as described above. Furthermore, when an icon is newly arranged as in the above-described embodiment, an icon related to the immediately preceding operation is displayed. Using the robot state (each joint angle, hand position, posture, and set speed) by simulation and the robot motion range information stored in the storage unit 16 in advance, input the parameters for the icons related to the motion. The range of possible values can be presented to the program creator through the display device 19. For example, when the icon represents a movement command by inputting an absolute value of the joint angle, the motion range of each joint stored in the motion range information is presented. When a movement command is input by inputting a relative value of the joint angle, a value that can be input as a relative value is presented from each joint angle and the motion range information of the robot immediately before the simulation. For example, the range can be obtained by subtracting the current angle from the maximum angle that can be input to the + side by subtracting the current angle from the maximum angle on the + side of the motion range information, and subtracting the current angle from the maximum angle (signed). By doing so, the maximum value that can be input to the minus side can be obtained. The range of speed and the like can be presented in the same manner.
Thus, by presenting a range of parameters that can be input at the time of parameter input, an operation program can be created more efficiently.

It is a figure which shows the structure of the program preparation apparatus which concerns on Example 1 of this invention. It is a figure which shows an example of a display of the program creation apparatus shown in FIG. It is a flowchart which shows the process sequence of the principal part of the program creation apparatus shown in FIG. It is a figure which shows the structure of the program preparation apparatus which concerns on Example 2 of this invention. It is a flowchart which shows the process sequence of the principal part of the program creation apparatus shown in FIG. It is a flowchart which shows the process sequence of the principal part of the program preparation apparatus which concerns on Example 3 of this invention. It is a figure which shows the display screen of the simulation apparatus of the conventional robot. It is a figure which shows the display screen of the conventional program creation apparatus. It is a figure which shows the robot model of the display screen shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Program creation apparatus 11 Program creation part 12 Program search part 13 Command interpretation part 14 Simulation part 15 Result evaluation part 16 Memory | storage part 17 Keyboard 18 Mouse 19 Display apparatus

Claims (14)

In an operation program creation support method for an operation program creation apparatus that creates an operation program for a robot by arranging icons (graphical symbols) representing commands to the robot in the order of operation using a graphical user interface (hereinafter, GUI) ,
Is it possible to detect that the program creator has placed the icon on the program, automatically simulate the operation program up to the placed icon using a simulation unit corresponding to the robot, and execute the placed icon? An operation program creation support method characterized in that a result evaluation unit evaluates whether or not and the operation result creation is supported by notifying the program creator of the evaluation result through the GUI.   When the icon is newly arranged, the icon on the operation program is searched and traced back to a position where the robot state such as the joint angle and speed of the robot can be specified, and the robot state can be specified from the position where the robot state can be specified. The operation program creation support method according to claim 1, wherein the simulation unit performs simulation up to a newly arranged icon.   When the state of the robot simulated by the simulation unit is held with the last placed icon, and an icon representing a command to the robot is newly placed at a position next to the last placed icon 2. The operation program creation support method according to claim 1, wherein a simulation is performed from the held state of the robot to reduce time required for icon evaluation.   When the icon is inserted in the middle of the operation program, the operation program is traced back to a position where the state of the robot can be specified from the position of the inserted icon, and the simulation is performed from the specified position to the inserted icon. The result evaluation unit evaluates whether the icon can be inserted, notifies the program creator of the evaluation result through the GUI, and then places the icon from the inserted icon at the end of the operation program. If a problem occurs by inserting the icon, the icon that causes the problem is passed to the program creator through the GUI. Make an operation program by notifying Operation program creation supporting method of claim 1, wherein the supporting.   When the icon in the middle of the operation program is deleted, the operation program is traced back to the position where the state of the robot can be specified from the position of the inserted icon, and is arranged at the end of the program from the specified position. When a problem occurs by simulating the icon up to the icon, performing evaluation by the result evaluation unit, and deleting the icon, the icon in which the problem occurs is notified to the program creator through the GUI. The operation program creation support method according to claim 1, wherein the operation program creation is supported.   The state of the robot at each icon obtained by the simulation unit is recorded in each icon, and the state of the robot recorded in the immediately preceding icon is used for simulation by the simulation unit when the icon is edited The operation program creation support method according to claim 1, wherein a time required for the evaluation in the simulation and the result evaluation unit is shortened.   When the icon requests a parameter, a range of parameter values that can be input from the simulation unit and robot operating range information stored in advance in the storage unit is determined, and the program creator is The operation program creation support method according to claim 1, wherein the operation program creation is supported by presenting through a GUI.   In an operation program creation apparatus that creates an operation program for a robot by arranging icons (graphical symbols) representing instructions to the robot in the order of operation using a GUI, the program creator places the icon on the program. A program creation unit, a command interpretation unit that detects and interprets the arranged program, a simulation unit that automatically simulates an operation program up to the arranged icon corresponding to the robot, and the arranged icon executes An operation program creation device comprising: a result evaluation unit that evaluates whether or not it is possible and notifies the program creator of the evaluation result through the GUI.   When the icon is newly arranged, a program search unit for searching for an icon on the operation program to a position where the robot state such as the joint angle and speed of the robot can be specified is traced back. The operation program creating apparatus according to claim 8, wherein the simulation unit performs a simulation from an identifiable position to the newly arranged icon.   When the state of the robot simulated by the simulation unit is held with the last placed icon, and an icon representing a command to the robot is newly placed at a position next to the last placed icon The operation program creation device according to claim 8, further comprising a simulation unit that performs simulation from the state of the robot that is held to reduce time required for icon evaluation.   When the icon is inserted in the middle of the operation program, the operation program is traced back to a position where the state of the robot can be specified from the position of the inserted icon, and the simulation is performed from the specified position to the inserted icon. The result evaluation unit evaluates whether the icon can be inserted, notifies the program creator of the evaluation result through the GUI, and then places the icon from the inserted icon at the end of the operation program. If a problem occurs by inserting the icon, the icon that causes the problem is passed to the program creator through the GUI. Claims to be notified Operation program creating device as claimed.   When the icon in the middle of the operation program is deleted, the operation program is traced back to the position where the state of the robot can be specified from the position of the inserted icon, and is arranged at the end of the program from the specified position. When a problem occurs by simulating the icon up to the icon, performing evaluation by the result evaluation unit, and deleting the icon, the icon in which the problem occurs is notified to the program creator through the GUI. The operation program creation / creation apparatus according to claim 8.   The state of the robot at each icon obtained by the simulation unit is recorded in each icon, and the state of the robot recorded in the immediately preceding icon is used for simulation by the simulation unit when the icon is edited The operation program creation device according to claim 8, wherein a time required for the evaluation in the simulation and the result evaluation unit is shortened.   When the icon requests a parameter, a range of parameter values that can be input from the simulation unit and robot operating range information stored in advance in the storage unit is determined, and the program creator is The operation program creating apparatus according to claim 8, wherein the operation program creating apparatus is presented through a GUI.

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