JP2008254074A - Motion editing device, and its program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prepare new motion data by reusing created motion data, concerning an editing device editing the motion data of an articulated robot. <P>SOLUTION: The editing device 3 changes a position and tilting of each part of a robot model in a three-dimensional virtual space 60 according to the operation of an operating unit 36, calculates an angle of each joint from the changed position and the tilting of the robot model according to data producing instruction of the operating unit 36, produces key frame data, and adds the condition data of the robot in the virtual space for three-dimensional indication to sent that to the articulated robot 1. By reusing the produced data in the three-dimensional space, another motion data can be produced in the three-dimensional space. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a robot motion editing apparatus that performs motion editing processing of a robot that defines an operation pattern of an articulated robot, and a program thereof, and more particularly to an operation pattern of an articulated robot having many joints in a pseudo space. The present invention relates to a robot motion editing apparatus and its program created by operating the CG model.

  With the recent development of robot technology, robots that can be walked have appeared. In such a robot, an articulated robot is generally used, and as the number of joints increases, various operations (motions) can be performed. Moreover, robots have permeated not only in the industrial world but also in general households and daily life.

  A robot with a large number of joints can perform a wide variety of motions (motions). However, it is necessary to create a motion data by inputting the position and speed (joint angle and angular velocity) that define the motion.

  As this method, there has been proposed a system that displays a CG (Computer Graphics) model of a robot in a pseudo space of a screen, and manipulates the CG model by inputting with a mouse or the like to edit motion data (for example, (See Patent Documents 1 and 2).

  In this prior art, a CG model of a robot is displayed in a three-dimensional pseudo space, and the CG model is moved to a desired pose by a mouse or key operation in order to cause the robot to perform a desired motion. Then, the joint angle data of the actual robot is obtained from the position of the pose, and the motion data is edited.

Further, the motion data is reproduced to operate the CG model in the pseudo space, and it is confirmed from the motion data whether the robot performs a desired motion. After confirmation, the motion data is transferred to the robot and stored in the memory of the robot.
JP 2002-103258 A (FIGS. 25 and 26, paragraphs 0323 to 0332) Japanese Patent Laying-Open No. 2005-125460 (paragraphs 0127 to 0132, FIGS. 5 and 12)

  With recent use in the entertainment field of robots, there is a demand for the robot to perform various and various operation forms and various and various operations. In particular, when an individual owns a robot, there is a desire to program an operation other than a predetermined operation according to his / her preference and usage.

  For this purpose, a robot that stores certain motion data can only operate according to the motion data. However, when other operations are desired, the CG model is manipulated in the above-described pseudo space to newly generate motion data. There was a need to create.

  The motion data is composed of a plurality of poses, and by setting the change time between the poses, a motion in which the poses are continuous can be realized. However, in the prior art, it is possible to create a pose, but it is difficult to set this time.

  In addition, there is a demand to operate the real robot in synchronization with the operation of the CG model in the pseudo space and the display image using the created motion data. In the prior art, it is difficult to cope with such usage patterns.

  Therefore, an object of the present invention is to provide a robot motion editing apparatus and a program thereof for more easily creating various kinds of robot motion data.

  Another object of the present invention is to provide a robot motion editing apparatus and its program for operating a real robot in synchronization with the operation and display image of a CG model in a pseudo space using the created motion data. There is.

  Furthermore, another object of the present invention is to provide a robot motion editing apparatus and its program for creating motion data of other motions using existing robot motion data.

  Furthermore, another object of the present invention is to provide a motion of the robot for operating the real robot in synchronization with the operation of the CG model in the pseudo space and the display image with the created motion data regardless of the capability of the processing apparatus. To provide an editing apparatus and a program thereof.

  In order to achieve this object, the motion editing apparatus of the present invention is a motion editing apparatus for editing motion data of an articulated robot that drives a joint in real space, and three-dimensionally displays the model of the robot in a pseudo space. A display unit having a three-dimensional display, an operation unit for instructing the position and inclination of each part of the model of the robot displayed on the display unit, and the robot model according to the operation of the operation unit The position and inclination of each part are changed and displayed on the three-dimensional display unit, and each part of the changed robot model is changed from the position and inclination according to the data creation instruction of the operation unit. A processing unit that calculates joint angles and generates key frame data, and the processing unit includes the key frame data. It assigned the status data of the robot in the pseudo space for the three-dimensional display to be transmitted to the articulated robot.

  The program of the present invention is a program for editing motion data of an articulated robot that drives a joint in a real space, wherein the robot model in a pseudo space is displayed on a display unit in three dimensions, The three-dimensional display is performed by changing the position and inclination of each part of the robot model according to the operation of the operation unit for instructing the position and inclination of each part of the robot model displayed on the display unit. In accordance with the data creation instruction of the operation unit and the position and inclination of each part of the changed model of the robot, calculate the angle of each joint, create key frame data, The state of the robot in the pseudo space for the three-dimensional display is attached to the key frame data, and the articulated robot And creating motion data for, to be executed by a computer.

  In the present invention, it is preferable that the processing unit converts coordinates of the robot model so that a part of the robot model indicated by the operation unit is in contact with a reference plane of the three-dimensional display space. Then, the key frame data is created.

  In the present invention, it is preferable that the processing unit determines whether or not there is a collision between parts of the robot model from the generated key frame data according to an instruction from the operation unit, and the three-dimensional display space. The display color of the collided part of the robot model is changed.

  In the present invention, it is preferable that the processing unit displays on the display unit a timeline display unit that is operated by the operation unit to designate a time between the key frames of the robot model, The processing unit creates time information of the key frame data based on a time specified by the timeline display unit.

  In the present invention, it is preferable that the processing unit transmits the key frame data to the articulated robot, detects a delay in transmission processing, changes time information of the key frame data, and Send keyframe data.

  In the present invention, it is preferable that the processing unit displays a video image synchronized with a time designated by the timeline display unit from reproduction time information included in the video data.

  In the present invention, it is preferable that the processing unit displays a video image on the display unit in synchronization with the time specified by the timeline display unit from the reproduction time information included in the video data, The generated key frame data is transmitted to the articulated robot, and the video image and the operation of the articulated robot are synchronized.

  In the present invention, it is preferable that the processing unit reads motion data stored in a memory of the articulated robot, changes the format to the key frame data format, and poses the robot model of the display unit. In accordance with the operation of the operation unit, the position and the inclination of each part of the displayed robot model are changed, and the changed robot model according to the data generation instruction of the operation unit The angle of each joint is calculated from the position and inclination of each part of and the key frame data is created.

  In the present invention, it is preferable that the processing unit analyzes a control code included in the motion data and converts it into the key frame data.

  Change the position and inclination of each part of the robot model in the three-dimensional pseudo space according to the operation of the operation unit, and position each part of the changed robot model according to the data creation instruction of the operation unit The angle of each joint is calculated from the tilt, key frame data is created, the robot state data in the pseudo space for 3D display is attached, and transmitted to the articulated robot. By reusing data created in space, other motion data can be created in a three-dimensional pseudo space.

  Hereinafter, embodiments of the present invention will be described in the order of a robot motion editing device, motion editing processing function, motion editing processing, communication processing with a robot, synchronization processing with a robot, and other embodiments. The invention is not limited to this embodiment.

(Robot motion editing device)
FIG. 1 is a block diagram of an embodiment of a motion editing apparatus for a robot according to the present invention, and FIG. 2 is a block diagram of the configuration of FIG. 1, showing a humanoid articulated robot as an example of the robot.

  As shown in FIG. 1, the robot 1 includes a body 10, a face 28, four jointed right arms 12, 13-1, 15, 17, a right hand 19, and four jointed left arms 11, 13-2, 14, 16, left hand 18, four jointed right feet 21, 23, 25, 27 and four jointed left feet 20, 22, 24, 26.

  The face 28 can rotate with respect to the body 10 about the joint axis r5. The right arm has a joint 12, an upper right arm 13-1, a joint 15, a right lower arm 17, and a right hand 19, and rotates about four joint axes r1 to r4. Similarly, the left arm has a joint 11, a left upper arm 13-2, a joint 14, a left lower arm 16, and a left hand 18, and rotates around four joint axes r6 to r9.

  The right foot has a joint 21, a right thigh 23, a right lower leg 25, and a right foot 27, and rotates about four joint axes r10 and r12 to r14. The left foot has a joint 20, a left thigh 22, a left lower leg 24, and a left foot 26, and rotates around four joint axes r11 and r15 to r17. Therefore, the robot 1 is a humanoid robot having 17 joint degrees of freedom relative to the body 10.

  On the other hand, the motion editing apparatus 3 is composed of a personal computer and communicates with the robot 1 by a cable (not shown) and wirelessly. The apparatus 3 includes a base 30 on which a CPU, a memory, and a hard disk drive are mounted, a keyboard 32 provided on the base 30, a display unit 34 that can be folded on the base 30, and an external mouse 36.

  The apparatus 3 operates as a motion editing apparatus by loading a motion editing program described below with reference to FIG. As shown in FIG. 2, the motion editing program 50 performs display control that operates under the control of a kernel (for example, WINDOWS (registered trademark)) and performs robot communication control processing.

  In the display control process, the display on the display unit 34 is controlled and the motion data is edited by the input from the keyboard 32 and the mouse 36 via the I / O driver 66. In the robot communication control process, communication control with the robot 1 is performed using the key frame memory 52 and the communication driver 54.

  The robot 1 has a motion memory 40 for storing motion data, a communication driver 44 for communicating with the editing apparatus 1, a motor driver 46 for driving motors of each joint of the robot 1, and a CPU. The CPU executes the actual robot control program 42 and controls the operation of the robot 1.

  The display unit 34 includes a timeline window (hereinafter referred to as a timeline display unit) 58, a 3DView window (hereinafter referred to as a 3DView display unit) 60, an option window (hereinafter referred to as an option display unit) 64, and a Video window (hereinafter referred to as a Video display unit) 62. Consists of. These display units are driven via the video driver 56 under the control of the program 50.

  FIG. 3 is a display screen of the display unit 34, and FIG. 4 is an explanatory diagram of the timeline display unit of the display unit 34. The timeline display unit 58 includes a Windows (registered trademark) pull-down menu (file, display, etc.) and two timelines. The upper part is referred to as a wide area timeline and the lower part is referred to as a work timeline.

  As shown in the enlarged view of FIG. 4B, the wide area timeline 58-1 in the upper part of FIG. 4A has a time axis scale on the horizontal axis (for example, around 0 to 18,000 seconds in the figure). The width (time) of a work timeline 58-2 described later is indicated by, for example, a yellow bar. In addition, a reproduction range of a work timeline 58-2 described later is indicated by a small horizontal bar below the wide area timeline 58-1.

  As shown in the enlarged view of FIG. 4C, the work timeline 58-2 displays a time axis scale (for example, from 0 second to around 2,010 seconds in the figure) on the horizontal axis. One frame of the scale is set in steps of 15 milliseconds. Pauses can be created in units of 15 milliseconds. On this time axis, the reproduction range of the work timeline 58-2 is displayed as a bar, for example, in green.

  In addition, a thick vertical mark (for example, a red mark) indicates that a key frame is set on the time axis scales of both the wide timeline 58-1 and the work timeline 58-2.

  Below the time axis scale of the work timeline 58-2, for example, an orange mark indicates the current work point, and the robot pose at this time (frame) is displayed on the 3D View display unit 60 of FIG. The Similarly, the video image at this point is displayed on the video display unit 62 on the right side of FIG.

  Further, as shown in FIG. 4C, a playback control button is displayed at the top of the bar indicating the playback range, and three buttons from the left are “head start”, “play / stop”, and “to the end”. Consists of.

  Next, the 3D View display unit 60 will be described with reference to FIG. As shown in FIG. 5, the 3D View display unit 60 displays the robot three-dimensionally so that the shape of the robot can be intuitively understood. It can be seen from the front, side, and top directions, and the direction of the camera can be switched. In addition, the 3D View display unit 60 can perform a plurality of displays at the same time.

  The following buttons are provided in the lower part of the 3D View display unit 60. That is, from the left, a key frame key 60-1 for registering the current pose of the displayed robot as a key frame, an inverse kinematics (IK) key 60-2 for moving the pose of the robot with inverse kinematics, a robot The forward kinematics key 60-3 for moving the pose of the player with the forward kinematic (FK), the pause mode / motion mode switching button 60-4 for switching the mouse operation between the pause mode and the motion mode, An undo button 60-5 for canceling the operation and a redo button 60-6 for resetting the operation canceled by the undo are provided.

  Furthermore, on the right side, a camera button 60-7 for 3D (three-dimensional) display when the screen is viewed from above, a front button 60-8 for displaying the screen from the front (to switch the front and back sequentially), and the screen A side button 60-9 for switching to a display state viewed from the side (switching left and right sequentially), a top button 60-10 for switching the screen to a display state viewed from the top (sequentially switching up and down), and a home for setting the robot to the initial posture Position button 60-11, button 60-12 for vertically moving the robot to the ground (grounding), button 60-13 for displaying the center of gravity of the robot on the ground, and images of key frames before and after being overlapped to be translucent A ghost display button 60-14 to be displayed and a button 60-15 to turn on / off the display of the ground are provided.

  When these buttons are clicked by the operation of the mouse 36, display processing for the robot is performed.

  In addition, pull-down menus for specifying functions such as “Make the tip symmetrical from here” and “Fix this part” for each part of the robot's limbs and “Land the foot” for the other part of the foot. 60-16 is displayed.

  Next, the video display unit 62 in FIG. 3 displays a video to be reproduced (in case) in synchronization with the robot operation. This video is synchronized with the current time (current frame) of the orange mark on the timeline 58-2 during reproduction of the robot motion and creation of the robot motion, and the video at that time is reproduced. The screen size can be set to an arbitrary size with the mouse 36, and full screen display is also possible.

  FIG. 6 is an explanatory diagram of the robot communication control function. The robot communication control function is a control function for communicating with the actual robot 1 and performing an actual operation or the like, and can be confirmed by a display as shown in FIG. The display for communication control is executed by clicking the robot communication tab 64-1 in the option display section 64.

  When the robot communication tab 64-1 is checked, the angle data of each motor is transmitted from the key frame memory 52 to the actual robot 1 via the communication control (driver) 54, and the robot operation on the 3D View 60 The actual operation of the robot 1 is synchronized. Actually, prior to this, the communication port 64-2 is matched with the port to which the actual robot 1 is connected.

  The robot 1 has a motion memory 40 (see FIG. 2), and has motion data unique to the robot 1. In FIG. 6, motion data M1 to M10 of the memory are displayed. For example, in order to read the motion data of M1 from the robot 1, after clicking M1 in FIG. 6, the read button of the motion mode key 64-3 is clicked. As a result, the motion data is read from the robot 1, stored in the key frame memory 52, and the motion is developed on the timeline 58 in FIG.

  Similarly, when the motion on the timeline 58 (motion data in the key frame memory 52 in FIG. 2) is sent to the motion memory 40 of the robot 1, the write button of the motion mode key 64-3 is clicked.

  Further, when instructing to execute (reproduce) the motion according to the content of the motion memory 40 built in the robot 1, for example, after clicking the motion data frame of M1, the motion mode key 64-3 Press the selected motion playback button. As a result, the robot 1 performs an actual operation with the motion data M1.

  The teaching function mode key 64-4 is a key for acquiring pose data (joint angle) from the robot 1.

(Motion editing processing function)
FIG. 7 is a diagram showing the relationship between the robot editing process (operation) and the key and mouse operations, FIGS. 8 to 9 are explanatory diagrams of the collision determination process, and FIGS. 10 to 15 are explanatory diagrams of the grounding process. 16 to 18 are explanatory diagrams of the partial alignment process.

  The basic operation will be described with reference to FIG. In order to change the selection position of the work timeline (yellow display) of the wide area timeline display unit 58-1 in FIG. 4B, the pointer is positioned on the work timeline with the mouse 36, the mouse 36 is pressed, Drag left or right. In order to move the reproduction range (displayed in green) of the work timeline 58-2 in FIG. 4C, the pointer is positioned in the reproduction range with the mouse 36, the mouse 36 is pressed, and dragged left and right. In order to change the reproduction range (displayed in green) of the work timeline 58-2 in FIG. 4C, the pointer is positioned at the end of the reproduction range with the mouse 36, the mouse 36 is pressed, and dragged left and right.

  To select the entire key frame of the work timeline 58-2 in FIG. 4C as the playback range, the mouse 36 is used to position the pointer in the playback range and press the Ctrl key and the “A” key on the keyboard 32. . In order to select an arbitrary range of the reproduction range of the work timeline 58-2 in FIG. 4C, the pointer is positioned in the reproduction range with the mouse 36, the center of the mouse 36 is pressed (start point instruction), and the end point is set. Drag to the desired position and release (end point indication).

  To move the key frame in the reproduction range of the work timeline 58-2 in FIG. 4C, the pointer is positioned at the key frame with the mouse 36, the mouse 36 is pressed, and dragged left and right. To delete the key frame in the reproduction range of the work timeline 58-2 in FIG. 4C, the pointer is positioned at the key frame by the mouse 36, the mouse 36 is pressed, and dragged to the upper trash box.

  Thus, as described below, the robot pose time information displayed on the 3D VIEW display unit 60 is set and reproduced for confirmation.

  Next, a function for setting a robot pose will be described. In order to change the position of each part of the robot excluding the body 10, the pointer is positioned with the mouse 36 on the target part of the robot displayed on the 3D VIEW display unit 60, the mouse 36 is pressed, and dragged up, down, left and right. Thereby, the position and posture can be changed not in the joint unit of the robot at the time of IK but in the unit of the part (for example, the lower leg or the foot), and in the joint unit of the robot at the time of the FK.

  To change the overall position of the robot, at the time of IK, the pointer is positioned with the mouse 36 on the body part of the robot displayed on the 3D VIEW display unit 60, the mouse 36 is pressed, and dragged up, down, left and right. To change the overall tilt of the robot, at FK, position the pointer on the body part of the robot displayed on the 3D VIEW display unit 60 with the mouse 36, press the Ctrl key on the keyboard 32 and the center of the mouse 36, Drag up / down / left / right. If the center of the mouse 36 is pushed without dragging the Ctrl key of the keyboard 32 and dragged up, down, left and right, the display position of the robot moves accordingly.

  In order to change the display angle of the robot at the camera angle, a pointer is positioned on the 3D VIEW display unit 60 with the mouse 36, the right side of the mouse 36 is pressed, and dragged up, down, left and right. In order to display a list of functions for each part of the robot (when limbs are symmetric, when limbs are fixed, or when the feet are landed), the pointer is moved to the robot symmetric part of the 3D VIEW display unit 60 with the mouse 36. Is positioned, the Shift key on the keyboard 32 is pressed, and the right side of the mouse 36 is pressed. In order to display the optimum size of the robot, the pointer is positioned on the 3D VIEW display unit 60 with the mouse 36, and the left side of the mouse 36 is double-clicked.

  As described above, the pose is arbitrarily set by operating the mouse on the robot of the 3D VIEW display unit 60. Accordingly, the robot pose can be set by the 3D VIEW unit 60, the time between poses can be set by the timeline display unit 58, and the joint angle and joint speed of the actual robot can be designated. The time pose between the set poses is automatically complemented. Also, since it can be set by operating the mouse, the time interval and pause can be set very easily. Therefore, a motion that is a continuous motion of a pose can be easily created. Furthermore, the motion can be confirmed on the 3D VIEW display unit 60 by the reproduction designation.

  Next, the collision determination process will be described. When the collision determination menu on the option tab 64-1 of FIG. 6 is selected, it is possible to determine the collision of the robot on 3D View. In the collision determination, when the menu is turned on (not shown), the collision part between the robot parts is changed to a color other than the robot (for example, orange) in real time. Thereby, a collision can be confirmed.

  The collision determination process in FIG. 8 will be described with reference to FIG.

  (S10) When the collision determination is turned on, the process is started.

  (S12) The spatial data for each part of the robot is compared in turn, and it is determined whether or not they overlap. That is, the angle of each joint (motor) of the robot is set. Next, from this angle, each part of the robot is covered with a bounding box (minimum inclusion box), and the value (positional coordinates) of the box is obtained. The bounding box is the smallest box that completely wraps an object. Compare two bounding boxes.

  (S14) A part that does not overlap in advance or a part that is always connected from the beginning is not determined. That is, if the two bounding boxes are always in contact from the beginning, the process proceeds to step S16. Here, the case of always touching from the beginning is, for example, a part that is directly connected to form a joint such as a body and a neck in a robot. Also, if there is no possibility that the two bounding boxes touch each other, the process proceeds to step S16. Here, when there is no possibility of touching, for example, the left and right shoulders are not likely to touch when considering the degree of freedom of the robot.

  (S16) It is determined whether a bounding box to be compared remains. If it remains, the process proceeds to the comparison process in step S12. On the other hand, if no bounding box to be compared remains, the process ends.

  (S18) In step S14, the values (positional coordinates) of the two bounding boxes to be determined are compared to determine whether they are in contact. If they are in contact, the display color of the contacted (collision) portion is changed, and the process proceeds to step S16. As shown in FIG. 9, since the left hand of the robot and the left thigh are in contact by this determination, the display color of the part is changed. Conversely, if it is not in contact, the process proceeds to step S16.

  Here, in order to simplify the calculation, each part is replaced with an approximate rectangular parallelepiped (bounding box). There is also a method of calculating by replacing with a sphere (bounding sphere). The bounding sphere (minimum inclusion sphere) means the smallest sphere that completely envelops an object (object).

  As described above, in order to correctly operate the actual robot, the collision determination of each part of the robot displayed on the 3D View is performed, and when the collision occurs, the user is notified by changing the color of the part. The user corrects the pose and motion (motion) based on the information.

  Such technology is also practically used in conventional computer games, but the purpose of this robot's motion editing is to operate the actual robot correctly and to protect the robot from malfunctions caused by incorrect operation. is there.

  In addition, by adjusting the settings of each part that performs collision detection (for example, the size of the bounding box), individual differences of robots (errors for each machine) and determination with more margin (approaching a certain distance) You can let them know.

  Next, the grounding process when the ground button in FIG. 5 is clicked will be described with reference to FIGS. This process is a process of correcting an arbitrarily designated sole of a CG model such as a robot or an animal / human body model so as to be in contact with the ground.

  The processing flow of FIG. 10 will be described with reference to FIGS.

  (S20) The sole is designated with the mouse, and the inclination of the entire CG model is corrected so that the sole of the foot is parallel to the ground by the model data inclination correction process based on the designated portion described later in FIG. . As shown in FIG. 13, when the robot's foot to be grounded is specified (circled in FIG. 13), the robot is rotated as shown in FIG. 14, and the entire CG model is placed so that the sole of the foot is parallel to the ground. Correct the tilt.

  (S22) Next, model data grounding processing, which will be described later with reference to FIG. 12, is performed. That is, as shown in FIG. 14, the CG model is grounded so that the sole of the foot is parallel to the ground, and the sole of the robot is grounded to the ground as shown in FIG.

  Next, with reference to FIG. 11, model data inclination correction processing based on the designated part will be described.

  (S30) With respect to a portion that may be specified (in the “foot contact processing”, the portion including the sole), a reference inclination (in the case of the sole, an inclination parallel to the ground) r0 (for example, , Inclination “0”) is set in advance.

  (S32) The reference point (here, the body) of the entire CG model is designated as “A”, and the reference portion (the sole) is designated as “b”.

  (S34) The slope r1 of “b” is calculated.

  (S36) With respect to “b”, the difference in slope rd = r1−r0 is calculated.

  (S38) The inclination of the reference point A of the entire model is changed to the inclination of A-rd. Tilt correction is performed and the coordinate data of the reference point A is saved.

  Next, the model data grounding process will be described with reference to FIG.

  (S40) The height coordinate Y (from the ground) of the lowest part of the entire target model data is obtained.

  (S42) The height coordinate of the reference point A of the model data is Ay, and (Ay-Y) is calculated. Thereby, it grounds as shown in FIG.

  (S44) The coordinate data A is stored.

  As a result of the inclination correction, when another part “C” exists at a position lower than the designated “foot sole”, the part “C” is grounded and the “foot sole” floats in the air. Although it is possible to forcibly ground the “sole”, in that case, “C” is positioned lower than the ground, which is unnatural. In such a case, since the “foot sole” does not touch the ground, it is possible to confirm the inconvenience of the pose and prompt the user to correct the pose.

  In addition, in the foot contact processing, the inclination of the entire model data is corrected so that the sole of the foot is parallel to the ground. However, if the reference inclination is set, the head, hand, It does not matter even on the back.

  Next, the partial alignment process will be described with reference to FIGS. 16, 17, and 18. The partial alignment process is a process for creating a natural (continuous) motion when a new motion is created by combining previously created poses and motions. Conventionally, it has been performed manually by eye measurement or the like, but by this process, it can be automatically performed by designating a reference portion (right foot in FIGS. 17 and 18).

  17 and 18, the motion of stepping on the right foot in FIG. 17B from the pose where both feet of the robot in FIG. 17A are aligned, and one step on the left foot in FIG. When creating a motion that walks two steps by connecting the stepping motions, even if they are connected as they are, the foot that steps in the same position is simply swapped, and it does not become a walking motion. That is, it does not move.

  Therefore, in order to make a walking motion, the position and orientation of the axial foot (right foot) of the motion of stepping on the left foot in FIG. 18 (A) to the position and orientation of stepping on the right foot of FIG. In addition, FIG. 18A is coordinate-transformed as shown in FIG. This process is designated by the pull-down menu 60-16, as in FIG.

  The partial alignment process will be described with reference to FIG.

  (S50) First, the motion L (FIG. 18A) for partial alignment is selected.

  (S52) A portion (a right axis foot in FIGS. 17 and 18) A to be used as a reference is selected with the mouse.

  (S54) The position and orientation data D1 of the reference portion A (right axis foot) in the pose P1 immediately before the motion L (FIG. 17B) are acquired.

  (S56) In the pose P2 of the motion L (FIG. 18A), the position of the entire robot so that the position of the reference portion A (right axis foot) and the orientation data are the same as the data D1 in step S54. The direction is moved, and the position and direction at that time are changed for the data of the motion L. When the motion is a continuous pose, the same amount of change is given to all the poses included in the motion L.

  In this way, the position and orientation of the reference portion of the last pose of the first motion (FIG. 17B) and the first pose of the second motion (FIG. 18A) can be matched. it can.

(Motion editing process)
Next, a motion editing processing operation using the above-described motion editing function will be described.

  (1) When the motion editing software is activated, a timeline display unit 58 and a 3D View display unit 60 are displayed on the display unit 34.

  (2) When creating a new motion, the current time orange mark on the work timeline 58-2 is set to 0.000 seconds (left end) by operating the mouse 36. Press the 3DView home position button 60-11 (see FIG. 5) to place the robot in an initial posture.

  (3) Press the key frame setting button 60-1 on the 3D View display section 60 to register the first key frame. Next, the orange mark on the work timeline 58-2 is moved by the operation of the mouse 36 at the time when the second key frame is to be placed (for example, 0.555 seconds).

  (4) When the robot part in the 3D view display unit 60 is grasped by the operation of the mouse 36 and dragged, the part moves. Move the part to any position and create a pose. At this time, whether to select inverse kinematics (IK) or forward kinematics (FK) can be set with the keys 60-2 and 60-3, and is arbitrary. When the pause is completed, the key frame setting button 60-1 of the 3D View display unit 60 is pressed to register the second key frame. After the third keyframe, work in the same way as the second.

  (5) When the required number of key frames (pauses) is completed, one motion is completed. When the green band for specifying the playback range of the work timeline 58-2 is set from the first key frame to the last key frame and the playback button (see FIG. 4C) is pressed, a series of motions are displayed in 3DView. Reproduced on the display unit 60.

  (6) When the actual robot 1 is connected to the communication port, if the robot communication in the robot communication tab 64-1 in the option display section 64 is checked, the actual robot 1 and the 3DView 60 The robot moves completely synchronously.

  (7) Further, by turning on the video display unit 62, reading a moving image file from the hard disk drive, and selecting the above-mentioned “time for placing a key frame (for example, 0.555 seconds)” in accordance with the moving image. , You can easily create a robot motion synchronized with the video.

  (8) The completed motion (time sheet) is saved in the key frame memory 60 by a file saving function.

  (9) When a new motion is created by modifying an existing motion, the motion (time sheet) saved by the file saving function is opened and placed on the time lines 58-1 and 58-2. If you want to add another motion, you can add it with the icon "Open with additional motion".

  (10) Instead of the icons “Open” and “Open additional motion”, the motion data in the motion memory 40 in the actual robot 1 can be used. In this case, as described with reference to FIG. 6, “read” and “additional read” are clicked on the robot communication tab 64-3 in the option display section 64.

  (11) The motion data on the timeline can be changed in pose and key frame by (4) and (5) described above. The same applies to synchronization with Video.

  (12) When the change is completed, the completed motion (time sheet) is saved by the file saving function. Similarly, when the user wants to save in the motion memory 40 in the actual robot 1, “Write” in the robot communication tab 64-3 in the option display unit 64 corresponds, and the robot communication is checked and “Write” is selected. Click the button to save.

(Communication with robot)
Next, communication processing with the robot will be described. Between the motion editing apparatus 3 and the actual robot 1, data is converted to communicate with each other. FIG. 19 is an explanatory diagram of a communication operation from the editing device 3 to the real robot 1. FIG. 20 is an explanatory diagram of a communication operation from the real robot 1 to the editing device 3.

  In FIG. 19, the control program 50 reads the key frame data in the key frame memory 52 of the editing device 3, converts all poses (motions) at once, and communicates to the robot 1 from the communication driver 54. In this case, the robot 1 stores the motion data received through the communication driver 44 in the motion memory 40, and the method that the robot 1 executes later, as shown in FIG. There is a method in which the robot 1 performs conversion, communication, and execution for each key frame in real time.

  In addition, as shown in FIG. 20, all poses (motions) in the motion memory 40 of the actual robot 1 are collectively converted, communicated, stored in the key frame memory 52 of the editing device 3, and stored in the timeline. Expand the data.

  Hereinafter, the pose refers to the state (angle) of all joints of the robot at a certain time or data thereof, and the motion refers to a plurality of consecutive poses or data thereof within a certain time range.

  Further, as described with reference to FIG. 4, the editing apparatus uses a unit of “frame” for the time display (“1 frame = 15 milliseconds” in the basic setting), and the pause data for each time is “ This is called “frame data”.

  FIG. 21 is a configuration diagram of the frame data. The frame (time from the start of motion), the position of the robot (the position of the reference point of the robot in the virtual space), and the tilt of the robot (the reference point of the robot in the virtual space). And the angle of each joint.

  Furthermore, the key frame refers to a frame that is arbitrarily designated by the user and in which a pose serving as a reference for motion is set. The frame data is referred to as key frame data. In the editing apparatus 3, the user creates and designates a pose of a key frame, and creates a motion by automatically complementing the pose of the frame between the key frames.

  Next, the data format of the real robot 1 will be described with reference to FIG. As shown in FIG. 22, the actual robot 1 treats an angle of each motor (joint) and a continuous time until reaching the angle as motion data.

  As described above, since the data format is different between the robot in the virtual space and the real robot 1, data conversion is required for communication between them. In the communication processing according to the present embodiment, the key frame of the editing device 3 is associated with one line of motion data in the actual robot 1. This is basically the same for all communications.

  FIG. 23 is an explanatory diagram of data conversion when communicating from the editing device 3 to the real robot 1. As shown in FIG. 23, the editing apparatus 3 sets the frame of FIG. 21 to the time (speed) of FIG. 22, the angles of the joints of FIG. 21 to the angles of the motors of FIG. The position / tilt is converted as additional data and transmitted to the robot 1.

  In this conversion, in order to convert the frame into time (speed), the key frame interval is converted into time. Here, 1 frame = 15 milliseconds is calculated. Further, in order to convert the angle of each joint into the angle of each motor, the angle of each joint is set as it is (perform unit conversion if necessary). Further, since the position / tilt of the reference point of the robot in the pseudo space is used as additional data, the motion data of the real robot 1 is an item that does not exist in the initial setting. Specifically, position data 3 items (X, Y, Z coordinates) + tilt data 3 items (yaw, pitch, low) = 6 items.

  Next, FIG. 24 is an explanatory diagram of data conversion from the real robot 1 to the editing device 3. The editing device 3 converts the time (speed) of the robot 1 into a frame, converts the angle of each motor of the robot 1 to the angle of each joint, and adds the additional data of the robot 1 to the position / inclination of the reference point of the robot in the pseudo space. Set to. When the direct teaching function is used, data communication is performed by setting the angle of each motor of the robot 1 to the angle of each joint.

  In this conversion, the time (speed) data of the robot 1 is converted into key frame intervals. One frame = 15 milliseconds and converted into a frame unit. The angle of each motor is set to the angle of each joint as it is (perform unit conversion if necessary). Furthermore, since the data item of the position / tilt of the reference point of the robot in the virtual space is an item that does not exist in the motion data of the real robot 1 by default, the data item exists in the robot 1 as additional data (that is, the editing device 3). The data created in step 1 and recorded in the robot 1 is set as it is, and if it does not exist, data processing is not performed.

  Next, as illustrated in FIG. 19, when the editing apparatus 3 performs conversion and communication for each key frame in real time as the time elapses, and the robot 1 executes, the editing apparatus 3 executes. The communication delay handling process will be described.

  FIG. 25 is a communication delay compensation processing flowchart. Normally, when a process failure occurs (when the execution time of the process exceeds the scheduled time assumed by the program) during CG drawing or game execution, an unexecuted process is performed when the process failure is recognized. Are deleted, and corresponding processing such as sequential processing from the processing to be executed at that time is performed.

  However, when a motion (motion) operation is performed on an actual robot 1 by real-time communication, if a portion that cannot be processed is simply deleted, the motion does not continue, and in some cases, the motion cannot be executed. The robot will be greatly out of balance. In order to avoid such a result, the corresponding processing is performed by changing the processing speed without deleting the portion that has not been processed in time.

  (S60) First, the data D1 to be transmitted to the robot 1 and the execution completion time T1 (time according to the frame of FIG. 21) of the data are acquired.

  (S62) If there is data to be transmitted next, the current time T0 is acquired before the communication process, the time Td (= T1-T0) until the execution completion time T1 is calculated, and the process proceeds to step S64.

  (S64) On the other hand, when there is no data to be transmitted next, processing other than communication (drawing or the like) is executed.

  (S66) After execution of processing other than communication, it is determined whether the robot communication tab is ON. If it is ON, the process returns to step S60.

  (S68) Then, the time Td (or the speed calculated from Td) and the data D1 are transmitted to the robot 1, and the process proceeds to step S64.

  In this way, in each communication, the correction time is calculated from the current time and the execution completion time, so the communication process is performed at an unscheduled time due to the influence of the previous communication process and other processes (such as drawing). Even in this case, the operation can be accelerated so as to be in time for the delayed time. For this reason, the operation completion time of the actual robot can be prevented from changing.

  This method is very effective for specifications that perform all processes including drawing, etc. in a series of flows, but it is also effective for specifications in which only the communication part functions independently (parallel processing, multitasking, etc.). .

  Next, a process of reading motion data from the real robot 1 and registering it as a key frame on the timeline in the editing apparatus 3 described with reference to FIG. 26 to 29 are explanatory diagrams for converting motion data into key frame data.

  As shown in FIG. 26, the motion data of the actual robot 1 is generally a time series of motor operating time and joint motor angle. Here, the maximum number of controllable joints is 24 (the number in the horizontal direction in the figure), but the actual number of joints of the real robot 1 (FIG. 1) of this embodiment is 17.

  FIG. 26 is an example of motion data in which the motion of a robot having 17 joints consists of 13 poses (vertical numbers in the figure). That is, the first column in FIG. 26 is a row number in which 13 poses are assigned in order from the top. The 14th line means the end.

  The second column shows the motor operating time in hexadecimal. Since the actual robot 1 has an operation time unit of 15 ms, the operation time of “a” in the first row indicates 150 ms which is 10 times (decimal number) of 15 ms. Each motor is shown to operate at a speed that reaches the desired pose in 150 ms.

  The third column shows the angle (pose) of the motor of joint number 1. The value “4000” in FIG. 26 indicates the center angle (indicated by a relative value). From the fourth column to the twenty-fourth column, the angles of the motors of the respective joint numbers are shown as in the third column. Since the joints 5, 9, 10, 16, 22, 23, and 24 are unused, the numerical values are meaningless.

  To explain this motion operation, the motion reaches the pose of the first row from the start pose in 150 ms, and then reaches the pose of the second row after (20 * 15 =) 300 ms, and so on.

  In the above example, the motor angles of the motion data all indicate robot poses. Such motion data is general and is also described in FIG. 5 of JP-A-10-302084.

  In this embodiment, the key frame data is created from the motion data and registered on the timeline. If all the motor angle frame data of the motion data in FIG. 26 are robot poses, they can be converted into key frame data in the key frame memory. And by the key frame data, the key position on the time line corresponds to the time, and the motor angle is indicated by the robot pose on 3D View.

  However, data other than the motor angle may be described in the motor angle frame of the motion data. In this case, even if this is converted into key frame data as it is, it cannot be guaranteed what form the pose of the robot displayed on 3DView will be.

  Thus, even when data other than the motor angle is described in the conventionally known motion data (the motor angle frame), this is a process that can take a correct pose. FIG. 27 is an explanatory diagram of an example of motion data in which data other than the motor angle is described in the motion data (its motor angle frame).

  In FIG. 27, in the third and sixth lines, numerical values that are not motor angles are shown in the motor angle frame. That is, in this robot, the numerical values of the 8000 range are mainly targets. “820a” in the third line means “set the loop counter to 3”, and “830a” in the sixth line “decrements the loop counter and jumps to the specified line if it is not 0” It means "Yes."

  Such loop control and conditional jump commands (“820a” and “830a”) are codes that are interpreted (interpreted) by the control program in the real robot. Even when the editing device 3 reads this motion data, it cannot be converted into key frame data.

  For this reason, first, the first line and the second line are registered as pauses at key frame positions on the timeline (registered in the key frame memory 52). Next, the third line does not register a pose at a key frame position on the timeline even though it is motion data. The same interpretation as the control program in the real robot 1 interprets without registering the pose at the key frame position on the timeline. In this case, the value “3” is registered in the loop counter.

  Subsequently, in the 4th and 5th lines, the pose is registered again at the key frame position on the timeline. In line 6, this is not registered and the value of the loop counter is decreased by one. That is, “2” is set.

  For the loop processing, the poses are registered at the key frame positions on the timeline in the fourth and fifth lines. Furthermore, pauses are registered at the key frame positions on the time line in the fourth and fifth lines. At this stage, since the value of the loop counter is “0”, the pause is registered at the key frame position on the timeline, continuing to the seventh, eighth, and ninth lines. The timeline is completed as described above.

  The key frames on the timeline are all configured with motor angles, and are operable.

  FIG. 28 is a flowchart of the conversion process.

  (S70) The editing device 3 initializes the number of rows M of the motion memory and the number of rows K of the key frame memory to “1”.

  (S72) The motion data of the Mth row is checked.

  (S74) It is determined whether the motion data is finished (“ffff”). If the motion data is finished, the end key frame data is written in the memory 52 and the process is finished.

  (S76) Conversely, if the motion data is not completed, it is determined whether the data other than the motor angle (data is in the 8000 range). If the data is other than the motor angle, the process proceeds to a loop process in step S80. Conversely, if it is motor angle data, motion data is assigned to a key frame (written to the key frame memory 52). Then, the number M of lines in the motion memory and the number K of lines in the key frame memory are incremented by “1”, and the process returns to step S72.

  Next, loop processing will be described.

  (S78) It is determined what number the data is.

  (S80) If the data is “820a”, loop start processing is performed. Here, as an example, “3” is set in the loop counter. Further, the loop start line L is stored with a value obtained by incrementing M by “1”.

  (S82) Then, the number M of rows in the memory for motion is incremented by “1”.

  (S84) On the other hand, if the data is “830a”, loop end determination processing is performed. Here, the value of the loop counter is set to “−1”.

  (S86) Then, it is determined whether or not the value of the loop counter is “0”. If it is “0”, the motion memory row number M is incremented by “1” to end the loop. If it is not “0”, the motion memory jump destination row number M is set as the loop start row L. Return to the loop start.

  In this way, if the data in the motion data is a motor angle, the pose is registered as it is at the key frame position on the timeline. If the data is other than the motor angle, the pose is recorded at the key frame position on the timeline. Without registering, the timeline is completed by switching to the same operation as the interpreter operation in the robot.

  Next, when these data are operated by the editing apparatus 3, world coordinates and angles are added to the 25th to 30th columns in each row. Here, the world coordinate / angle refers to the position coordinate / inclination angle of the reference point of the robot with respect to the reference point / reference direction of the pseudo space in which the robot exists. The reference point of the robot is, for example, a body part.

  FIG. 29 shows an example. For example, the above-mentioned data is combined with the angle data of the motor and new motion data is created by performing the above-described foot contact processing, body movement processing, and the like.

  In FIG. 29, the second to 30th columns are the values of the added world coordinates and angles. Since the motors 5, 9, 22, 23, and 24 are not used, they are set to “0”. The 25th column is the X coordinate, the 26th column is the Y coordinate, the 27th column is the Z coordinate, the 28th column is the yaw, the 29th column is the pitch, and the 30th column is the low. As described above, this value is represented by a relative value between the reference point / reference direction of the pseudo space and the position coordinate / tilt angle of the robot reference point.

  As described above, “writing” data to the robot and “reading” from the robot created on the editing apparatus 3 are performed using the data added to the 25th to 30th columns. That is, by manipulating the world coordinate / angle data corresponding to the 25th to 30th columns of the above data, the movement of the robot in the virtual space can be naturally expressed. For example, this is the case where the above-described partial alignment process or sole contact process is executed.

  Thus, in order to put motion data on a term line, it is converted so as to be composed entirely of angle data. This is called a motion decoder.

(Synchronization with robot)
Next, synchronization processing with the robot will be described with reference to FIGS. As shown in FIG. 30, video data including audio is stored in the hard disk drive HDD. The video data is read by the video driver 56 and displayed on the video display unit 62. The timeline display unit 58 is operated to create this video data and key frame data, and further, the reproduction of the video data and the actual robot operation by the key frame data and the virtual robot operation in 3D View are synchronized.

  This will be described with reference to FIGS. 31 to 33. 31 to 33 show the 3D View display unit 60 and the video display unit 62 of the display unit 34. As shown in FIGS. 31 to 33, when the playback area of the timeline display unit 58 is operated, the elapsed time specified by the timeline display unit 58 and the elapsed time of the video obtained from the playback time information included in the video data. By making the same, the video image synchronized with the time elapsed time is displayed on the video display unit 62. As shown in FIG. 31, in the video image display, human B on the right side pauses playback with his hand extended horizontally, operates 3DView60 with the mouse, and poses the robot in 3DView with his hand horizontally. Create a pose that stretches out and register it as a key frame.

  Next, the video playback is resumed. As shown in FIG. 32, in the video display, the right person B temporarily pauses the playback with the hand bent to the left side, and operates the 3DView 60 with the mouse, and the 3DView Create a robot pose with a hand bent to the left and register it in the keyframe.

  Furthermore, the video playback is resumed, and as shown in FIG. 33, in the video display, with the right person B bent down, the playback is temporarily suspended, the 3DView 60 is operated with the mouse, and the robot poses at 3DView. Create a crouched pose and register it in the keyframe.

  In this way, data creation of the same pose as that of the video image is facilitated.

  When the reproduction of the timeline display unit 58 is instructed, the key frame data is transmitted to the real robot 1 in synchronization with the video display as shown in FIG. For this reason, the real robot 1 executes the same operation as the video display human B in FIGS. 31 to 33 in synchronization with the video display. At this time, the 3DVe60 robot model also performs the same operation as the actual robot 1.

  For this reason, it is easy to create content synchronized with the video, and the real robot can be operated in synchronization with the video, so that the entertainment properties of the robot can be improved. In this case, the communication delay compensation process described above is particularly effective.

(Other embodiments)
In the above-described embodiment, a robot with 17 joints has been described. However, the present invention can be applied to robots with other joints. The robot can be applied not only to a human type but also to other types of robots such as a quadruped walking type.

  As mentioned above, although this invention was demonstrated by embodiment, this invention can be variously deformed within the range of the meaning, and this is not excluded from the scope of the present invention.

  Change the position and inclination of each part of the robot model in the three-dimensional pseudo space according to the operation of the operation unit, and position each part of the changed robot model according to the data creation instruction of the operation unit From the tilt, calculate the angle of each joint, create key frame data, attach additional data for 3D display and send it to the articulated robot, so the data created in 3D pseudo space Can be reused to create other motion data in a three-dimensional pseudo space.

It is a block diagram of one Embodiment of the motion editing apparatus of this invention. It is a block diagram of the motion editing apparatus of FIG. It is explanatory drawing of the display part of FIG. 1, FIG. It is explanatory drawing of the timeline display part of FIG. It is explanatory drawing of the 3DView display part of FIG. It is explanatory drawing of the option display part of FIG. FIG. 4 is a relationship diagram between the processes of FIG. 1, FIG. 2, and FIG. 3 and operations. FIG. 8 is a collision determination processing flowchart of FIG. 7. It is explanatory drawing of the collision determination process of FIG. FIG. 8 is a flowchart of a sole grounding process in FIG. 7. FIG. 11 is a flowchart of the inclination correction process in FIG. 10. FIG. 11 is a grounding process flow diagram of FIG. 10. FIG. 11 is a first explanatory view of a sole grounding process of FIG. 10. FIG. 11 is a second explanatory diagram of the sole grounding process of FIG. 10. FIG. 11 is a third explanatory diagram of the sole grounding process of FIG. 10. FIG. 8 is a partial alignment process flowchart of FIG. 7. FIG. 17 is a first explanatory diagram of the partial alignment process of FIG. 16. FIG. 17 is a second explanatory diagram of the partial alignment process of FIG. 16. It is explanatory drawing of the communication process to the robot of FIG. It is explanatory drawing of the communication process from the robot of FIG. It is explanatory drawing of the frame data of FIG. 19, FIG. It is explanatory drawing of the motion data of FIG. 19, FIG. It is explanatory drawing of the data conversion process of FIG. It is explanatory drawing of the data conversion process of FIG. FIG. 20 is a communication delay compensation processing flowchart of FIG. 19. It is explanatory drawing of the motion data for the data conversion process of FIG. It is explanatory drawing of the other motion data for the data conversion process of FIG. FIG. 28 is a flowchart of the motion data conversion process in FIG. 27. It is explanatory drawing of the transmission data for the data conversion of FIG. It is explanatory drawing of a synchronous process with the moving image of one embodiment of this invention. FIG. 31 is an explanatory diagram of a first screen example of the synchronization processing of FIG. 30. FIG. 31 is an explanatory diagram of a second screen example of the synchronization processing of FIG. 30. FIG. 31 is an explanatory diagram of a third screen example of the synchronization processing of FIG. 30.

Explanation of symbols

1 Articulated Robot 3 Motion Editing Device 32 Keyboard 34 Display Unit 36 Mouse 40 Motion Memory 42 Real Robot Control Program 50 Control Program 52 Key Frame Memory 54 Communication Driver 58 Timeline Display Unit 60 3D View Display Unit 62 Option Display Unit 64 Video Display Part

Claims (10)

In a motion editing device that edits motion data of an articulated robot that drives joints in real space,
A display unit having a three-dimensional display unit for three-dimensionally displaying the model of the robot in a pseudo space;
An operation unit for instructing the position and inclination of each part of the model of the robot displayed on the display unit;
The position and inclination of each part of the robot model is changed according to the operation of the operation unit and displayed on the three-dimensional display unit, and the changed according to the data creation instruction of the operation unit A processing unit that calculates the angle of each joint from the position and inclination of each part of the robot model and creates key frame data;
The motion processing apparatus, wherein the processing unit attaches the state data of the robot in the pseudo space for the three-dimensional display to the key frame data and transmits the data to the articulated robot. The processing unit converts the coordinates of the robot model so that the part of the robot model instructed by the operation unit is in contact with the reference plane of the three-dimensional display space, and creates the key frame data. The motion editing apparatus according to claim 1, wherein: The processing unit determines whether or not there is a collision between parts of the robot model from the created key frame data according to an instruction from the operation unit, and the collision of the robot model in the three-dimensional display space occurs. The motion editing apparatus according to claim 1, wherein the display color of the part is changed. The processing unit displays, on the display unit, a timeline display unit for operating with the operation unit and designating a time between the key frames of the robot model, and the processing unit displays the timeline display. The motion editing apparatus according to claim 1, wherein the time information of the key frame data is created according to a time specified by a section. The processing unit transmits the key frame data to the articulated robot, detects a delay in transmission processing, changes time information of the key frame data, and transmits next key frame data. The motion editing apparatus according to claim 1, characterized in that: The motion editing apparatus according to claim 4, wherein the processing unit displays a video image synchronized with a time designated by the timeline display unit from reproduction time information included in the video data. The processing unit synchronizes with the time specified by the timeline display unit from the reproduction time information included in the video data, displays a video image on the display unit, and creates the image on the articulated robot. The motion editing apparatus according to claim 4, wherein key frame data is transmitted to synchronize the video image and the operation of the articulated robot. The processing unit reads the motion data stored in the memory of the articulated robot, changes to the format of the key frame data, displays the pose of the robot model of the display unit,
In accordance with the operation of the operation unit, the position and inclination of each part of the displayed robot model are changed, and according to the data creation instruction of the operation unit, each part of the changed robot model is changed. 2. The motion editing apparatus according to claim 1, wherein the angle of each joint is calculated from the position and the inclination to create key frame data. The motion editing apparatus according to claim 8, wherein the processing unit analyzes a control code included in the motion data and converts the control code into the key frame data. In a program for editing motion data of an articulated robot that drives joints in real space,
Displaying the model of the robot in a pseudo space on a display unit in three dimensions;
The position and inclination of each part of the robot model are changed according to the operation of the operation unit for instructing the position and inclination of each part of the robot model displayed on the display unit, and the three-dimensional Displaying on the display unit;
In accordance with the data creation instruction of the operation unit, the angle of each joint is calculated from the position and inclination of each part of the changed robot model, key frame data is created, and the three-dimensional A program for causing a computer to execute a step of creating motion data for the articulated robot by attaching state data of the robot in the pseudo space for display.

Images