JP2011224710A - Sensing operation generation method and sensing operation generation apparatus of work manipulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce a workload required for correcting and reconfiguring sensing operation data by automatically generating appropriate sensing operations even for a workpiece having an arc-like portion.SOLUTION: The sensing operation generation method of a work manipulator is favorable for generating sensing operation data to be used when any sensing operation is performed by a work manipulator 2 having a contact sensor 3 contactable to a workpiece W with an arc-like portion C. The sensing operation generation method includes estimating a real work model RM subjected to interpolation between discrete points D on the basis of a discrete work model DM where the arc-like portion C of the workpiece W is approximated at a discrete point D, and then generating the sensing operation data for the work manipulator 2 on the basis of the estimated real work model RM.

Description

  The present invention relates to a method and apparatus for automatically generating appropriate sensing operation data of a work manipulator in an offline environment.

  Conventionally, before a work manipulator performs work on a work work, a work sensor on the computer and the work manipulator are brought into contact with the work work based on the “sensing operation data”. The sensing operation is usually performed by verifying the positional relationship between the operation manipulator and correcting the teaching data of the operation manipulator based on the verification result.

  For example, based on the teaching data on the computer, even if the work manipulator intends to perform welding work at an appropriate position and posture, it depends on the actual work workpiece shape and installation error, the initial position of the work manipulator itself, and gravity. Because there is a deflection of the joint, backlash, etc., an error occurs between the actual work work information and the teaching data, and when trying to actually perform the welding work, the welded part may shift or other than the welding wire of the work manipulator May hit the work piece.

Therefore, before the work manipulator performs welding or other work, sensing is performed to correct the error between the actual work work information and the work work teaching data on the computer by actually bringing the welding wire into contact with the work work. Work is necessary.
When performing such sensing work, sensing operation data for the work manipulator is necessary, and the method of generating the sensing operation data, that is, the method of generating the sensing operation of the work manipulator is often manually performed by the work operator. However, several technologies for automatically generating sensing operations have been developed. In Patent Document 1, the current position of the work work is sensed by bringing the work work having an arc shape into contact with any three points on the arc, and the actual work work and the work work on the computer are detected. A technique for calculating the deviation of the center of the arc and utilizing it for work operations such as actual welding work is disclosed.

The technique of Patent Document 1 uses any three points on the arc portion of the work workpiece as positions where the current position of the work workpiece is sensed, and generates teaching data that performs contact operation in the direction passing through the center position of the arc at each sensing position. This is a work line correction control method for an industrial robot.
Specifically, in Patent Document 1, when a sensing operation is performed on an arc-shaped work line (welding line) between a cylindrical member and a flat plate member, on the outer peripheral surface of the cylindrical member based on position information on a computer. The work manipulator (robot) is actually brought into contact with the first sensing position.

The error (correction value) between the actual work work obtained at the first sensing position and the work work on the computer is stored in a predetermined memory, and the robot is brought into contact with the second sensing position on the cylindrical member. Let's go.
When touching at the second sensing position, the correction value obtained at the first sensing position is used to modify the position information on the computer, and the robot is moved to the second sensing position. Will be brought into contact. Also, when the robot is brought into contact with the third sensing position, the position information on the computer is corrected using the correction values obtained at the first and second sensing positions.

  Then, by bringing the robot into contact with the cylindrical member at three sensing positions, the coordinates of the arc center in the actual work work can be detected, and the detected arc center coordinates and the coordinates of the arc center in the work work on the computer The difference is used as a circular arc sensing correction value, which is useful for sensing operations after the fourth point and actual welding work.

Japanese Patent No. 29985336

However, although it is possible to generate sensing operation data by the method of Patent Document 1 above, the correction amount cannot be detected unless the robot actually touches the work work, and the arc center of the work work is not detected. It is not possible to generate sensing operation data corrected for the position in an offline environment.
By the way, it is not limited to the method disclosed in Patent Document 1, but there is a problem that cannot be avoided by the conventional technique in generating sensing operation data.

  In other words, the curved surface of the surrounding environment of the work manipulator in the offline environment is expressed by polygonal approximation of the work work in order to speed up the drawing of the work manipulator and the surrounding environment and the calculation of interference check and to reduce the CAD data (See Fig. 2 and Fig. 3), and the work manipulator reproduced in the offline environment and the curved surface of the surrounding environment are different in position and shape from the curved surface of the actual work workpiece. In some cases, the sensing position cannot be created on the surface.

  For example, as shown in FIG. 3 (a), even if the sensing position is set on a polygonal approximated work workpiece, the sensing position is shifted with respect to the actual work workpiece as shown in FIG. 3 (b). There is a case where sensing teaching data is generated so that the contact type sensor (welding wire or the like) of the work manipulator to be tried does not reach the work workpiece. Although not shown, there may be a case where sensing teaching data is created such that the contact sensor of the work manipulator interferes with the work piece.

Even if such sensing teaching data is applied to the actual robot, the detection position is not such that the center position of the arc to be calculated can be obtained. Therefore, it is necessary to correct the sensing position.
Therefore, when the work operator makes corrections, there is a problem that the burden of teaching work increases by the amount of the correction work.

  In view of the above-described problems, the present invention enables sensing operation data including a detection position that can obtain a center position of an arc to be calculated in a work workpiece having an arc portion, in other words, enables accurate sensing of the arc portion. An object of the present invention is to provide a sensing operation generation method and a sensing operation generation device for a work manipulator that can generate sensing operation data in an off-line environment, and can reduce the load of the correction operation and teaching work of the work manipulator. .

In order to achieve the above object, the present invention employs the following technical means.
A sensing operation generation method for a work manipulator according to the present invention is a sensing operation generation method for generating sensing operation data used when a work manipulator having a contact sensor capable of contacting a work having an arc portion performs a sensing operation. And based on a discrete work model in which the arc portion of the work workpiece is approximated by discrete points, a real work model interpolated between the discrete points is estimated, and based on the estimated real work model It is characterized by generating sensing operation data of a work manipulator.

  As a result, even for work workpieces with circular arc parts, by estimating the real work model closer to the actual work workpiece than the discrete workpiece model, the error between the actual work workpiece and the work workpiece on the computer is reduced. Sensing operation data that can be appropriately touched by the work manipulator can be automatically generated in an offline environment and the work of correcting the operation data of the work manipulator is reduced. The generation time can be shortened, and the work efficiency of teaching data generation can be improved. The real work model is a work model that reproduces the arc part of the work work almost faithfully, and is a model set on a computer. Sensing operation data can be reset based on this real work model.

Preferably, when the real work model is estimated, the discrete points may be interpolated with an arc shape.
Further, when estimating the real work model, a contact surface with which a contact sensor contacts the discrete work model is extracted, and an intersection line between the extracted contact surface and a reference surface on which the contact surface is erected is extracted. It is preferable to extract an arc passing through the end point of the extracted intersection line as the real work model.

  As a result, interpolation between discrete points is performed in a circular arc shape, or the work model itself is estimated with a single circle, so it is possible to estimate a real work model that is closer to the actual work work. Even if the sensing position is set at a point (for example, between discrete points) where the above work model and the actual work work are significantly different, the actual work work will not reach or interfere with the work work. The contact position can be set at a position that can be accurately calculated.

It is preferable that the discrete work model is formed of a polygon having the discrete points as vertices.
In generating the sensing operation data, a sensing position where a contact sensor contacts the discrete work model is obtained, the obtained sensing position is reset on the real work model, and the reset sensing position is included. As described above, the sensing operation data may be generated.

In particular, when generating the sensing operation data, a straight line extending radially outward from the arc center of the real work model that passes through the sensing position before being reset and interpolates between the discrete points by an arc shape is the real work model. It is good also as resetting the point which crosses as a sensing position.
Further, when generating the sensing operation data, a point where a straight line that passes through the sensing position before being reset and overlaps the moving direction of the contact sensor intersects the real work model may be reset as a sensing position. Good.

  By using the estimated arc center of the real work model and the moving direction of the contact sensor during sensing operation, in addition to the sensing position before resetting, the sensing position can be reliably set to the arc of the real work model. It is possible to reset the actual sensing work position and the sensing position of the work work of the computer to further reduce the error and generate highly accurate sensing operation data while generating completely in an offline environment. It can be generated automatically, and the burden of correcting the sensing operation data can be reduced and the time for generating the sensing operation data can be reduced.

Further, it is determined whether a sensing position at which the contact-type sensor contacts the discrete work model matches a discrete point, and the real work model is estimated when it is determined that the sensing position does not match the discrete point. It is also suitable.
A sensing operation generation device for a work manipulator according to the present invention generates sensing operation data used when a work manipulator having a contact sensor capable of contacting a work having an arc portion performs a sensing operation. Model estimation means for estimating a real work model interpolated between the discrete points based on a discrete work model in which the arc portion of the work workpiece is approximated by discrete points, and the estimated real work model And a data generation means for generating sensing operation data of the work manipulator.

Preferably, the model estimation means may be configured to interpolate between the discrete points with an arc shape.
Further, the model estimation means extracts a contact surface where a contact sensor contacts the discrete work model, extracts an intersection line between the extracted contact surface and a reference surface on which the contact surface is erected, and is extracted. It is preferable that an arc passing through the end point of the intersecting line is extracted as the real work model.

It is preferable that the discrete work model is formed of a polygon having the discrete points as vertices.
The data generation means obtains a sensing position where a contact-type sensor contacts the discrete work model, resets the obtained sensing position on the real work model, and performs sensing so as to include the reset sensing position. You may comprise so that operation | movement data may be produced | generated.

In particular, the data generation means is such that a straight line extending radially outward from the arc center of the real work model that passes through the sensing position before resetting and interpolates between the discrete points with an arc shape intersects the real work model. May be reset as the sensing position.
Further, the data generation means is configured to reset a point where a straight line passing through the sensing position before being reset and overlapping the moving direction of the contact sensor intersects the real work model as a sensing position. It is also suitable.

  More preferably, it has a discrete point judging means for judging whether a sensing position where the contact type sensor contacts the discrete workpiece model coincides with a discrete point, and the model estimating means is a sensing position by the discrete point judging means. May be configured to estimate the real work model when it is determined that they are inconsistent with the discrete points.

  According to the present invention, even if the arc portion of the work model on the computer is composed of discrete data, it is possible to automatically generate sensing operation data including a sensing position where the work manipulator can properly contact the actual work work. Thus, the sensing operation correction and teaching workload can be reduced.

It is a block diagram of the sensing operation production | generation apparatus of the work manipulator of this invention. It is a figure which shows an actual work work and the discrete work model which approximated this, Comprising: (a) is a perspective view, (b) is a top view. (A) is a figure which shows the setting of the sensing position in the work work on a computer, (b) is a figure which shows that a sensing position shifts (it does not reach or interferes) in an actual work work. (A), (b) is a plan view and perspective view showing the edge of the surface on which the contact-type sensor contacts with the reference surface on the discrete work model, and (c), (d) are circles extracted from the end points of the edge It is the perspective view and top view which show. (A) is a plan view showing the first sensing position and the extracted circle, (b) is a plan view showing the sensing position reset using the first sensing position and the arc center, and (c) is the first view. It is a top view which shows the sensing position reset using the sensing position of and the moving direction of a contact-type sensor. It is a figure which shows the flowchart of the sensing operation | movement production | generation method of a work manipulator. It is a block diagram of the sensing operation | movement production | generation apparatus of a work manipulator.

Hereinafter, embodiments of the present invention will be described with reference to FIGS.
The following embodiment is an example embodying the present invention, and does not limit the technical scope of the present invention.
[Configuration of work manipulator]
FIG. 1 shows a sensing operation generating apparatus 1 for a work manipulator 2 (work robot) according to the present invention.

The sensing operation generation apparatus 1 includes a work manipulator 2, a control panel 11 that moves the work manipulator 2 according to teaching data incorporated therein, and a teaching pendant 12 that can input the teaching data. Further, an off-line teaching computer 4 is connected to the control panel 11.
[About sensing operation]
The computer 4 in this embodiment makes the sensing position P and sensing of the work manipulator 2 at the time of sensing by bringing the welding wire 3 (contact type sensor) provided in the work manipulator 2 into contact with the work workpiece W in an offline environment. The teaching data (sensing operation data) of the sensing operation including the posture is generated.

In addition, when the position of the work workpiece W in the off-line teaching data and the actual work workpiece W position detected and acquired by the welding wire 3 are different, the computer 4 uses the difference between the detected position and the sensing operation. The sensing operation can be performed while sequentially correcting the operation of the work manipulator 2 after the position where the operation is performed.
The work operator can also control the work manipulator 2 or manually generate sensing operation data according to a program (teaching program) in which the operation has been taught in advance by input from the computer 4 or the teaching pendant 12. .

The work manipulator 2 is a 6-axis multi-joint type robot that is general as a welding robot, and a welding wire 3 is provided on a hand 2a (tip) thereof. Note that the work manipulator 2 may be provided with a slider or may have seven or more axes.
The welding wire 3 is a strip having a predetermined length, and can also serve as a contact-type sensor that detects contact with the work workpiece W during sensing work. For example, it is possible to determine whether or not a contact has occurred by passing a current through the electrode of the hand 2 a of the work manipulator 2, bringing the hand 2 a closer to the work W and looking at the short-circuit state when contacting the welding wire 3.

By the way, the “sensing operation” described above may cause an error between the actual work W information and the teaching data even if the work manipulator 2 intends to perform welding work at an appropriate position and posture. Before actually carrying out the welding operation, the welding wire 3 is brought into contact with the work workpiece W, and the shape and arrangement of the work manipulator 2 on the computer 4, the work workpiece W (that is, the work model M) on the computer 4, and further the work This is an operation of correcting or resetting the sensing position P on the model M (the position where the welding wire 3 of the work manipulator 2 contacts the work model M in an offline environment).
[Problems when generating sensing operation data]
Sensing operation data for causing the work manipulator 2 to perform this sensing operation is created based on a model of the work W on the computer 4 (work model M).

As shown in FIGS. 1 and 2, the work W considered in the present embodiment is a cylindrical member erected from a reference flat plate material (this upper surface corresponds to a reference surface K described later), In this case, the inner peripheral surface and the outer peripheral surface of the cylindrical member are arc portions C in the work workpiece W.
In particular, as shown in FIG. 2, the workpiece model M of the work workpiece W approximates an actual work workpiece W having a curved surface with a polyhedron, and in particular, the arc portion C in a plan view is approximated with a polygon (see FIG. 2B). ing. This is because the work model M is simplified to reduce the weight of CAD data on the computer 4 and to increase the speed of calculation of interference check.

2B, the work model M connects the points (discrete points D) that are present on the actual work W with a space between them by a straight line. C is represented by a polygon having discrete points D as vertices.
In this way, the work model M approximated by using the discrete points D existing on the actual work W (that is, approximated by the discrete points D) is referred to as a “discrete work model DM”. Note that the discrete work model DM may be connected by a spline curve or the like without connecting the discrete points D with straight lines.

Consider a case where teaching data for making the contact sensor 3 come into contact with the work W in an offline environment is generated using the discrete work model DM.
As shown in FIG. 3A, a sensing position P is set on the discrete work model DM on the computer 4.
Here, the sensing position P specifically indicates the direction in which the welding wire 3 moves during the contact operation together with the position at which the welding wire 3 contacts the work workpiece W (in this case, the discrete workpiece model DM). A vector (sensing vector SV) and posture information of the work manipulator 2 at this time are also included.

When such a sensing position P is set in the arc portion C (that is, between the discrete points D), the sensing position P is arranged on the inner side away from the inner peripheral surface of the actual work workpiece W indicated by the virtual line. In other words, the sensing position P is arranged outside the inner peripheral surface of the actual work W, that is, inside the actual work W.
At this time, when the sensing operation data in which the sensing position P is arranged at a position deviated from the actual work W is generated using the discrete work model DM, the work manipulator 2 actual machine is moved to actually connect the welding wire 3. 3B, the welding wire 3 does not reach the inner wall of the work workpiece W, or the contact sensor 3 and a part of the work manipulator 2 are part of the work workpiece W. (Work work W is also sunk from the inner wall).

Therefore, in the case of such interference or the like, it is necessary to correct and reset the sensing position P in the teaching data by an amount corresponding to the error between the actual work workpiece W information and the teaching data.
[Method for Generating Sensing Operation Data in the Present Invention: Real Work Model Estimation]
Based on this situation, a sensing operation generation method of the work manipulator 2 according to the present invention will be described with reference to FIGS. This sensing operation generation process is performed by the off-line teaching computer 4 connected to the control panel 11.

The sensing operation generation device 1 has a computer program (sensing operation generation program) for executing the sensing operation generation method according to the present invention.
As shown in the flowchart of FIG. 6, the sensing operation generation program is recorded on a recording medium (not shown) as data in a format that can be read by the computer 4 in order to cause the computer 4 to perform processing for generating sensing operation data. is doing.

In step S1 (data generation step), as shown in FIG. 6, first, the sensing position P where the welding wire 3 and the work W are in contact is designated on the discrete work model DM.
In step S2, it is determined whether all the designated three sensing positions P coincide with the discrete points D on the discrete work model DM (discrete point determination step).

If it is determined that all sensing positions P do not match the discrete points D, the process proceeds to step S3. Otherwise, the process ends.
In step S3 (model estimation step), an intersection line (edge E) between the contact surface T with which the welding wire 3 comes into contact with the discrete workpiece model DM and the reference surface K (upper surface of the flat plate material) is extracted. An arc RC passing through all (six) EPs is extracted as a real work model RM.

The real work model RM is a work model M that faithfully reproduces the arc portion C of the work work W, and is a model set on the computer 4. Sensing operation data can be reset based on the real work model RM.
Next, in step S4 (resetting step), the sensing position P is reset on the extracted real work model RM, and sensing operation data is generated again so as to include the reset sensing position P.

Details of step S1 to step S4 will be described below.
In step S <b> 1, first, a discrete work model DM is generated on the computer 4 from the geometric data of the geometric shape and arrangement of the work manipulator 2 and work work W.
Next, three sensing positions P of the welding wire 3 are specified on the generated discrete work model DM by the sensing operation specifying means M1 (data generating means).

These sensing positions P are designated by generating sensing operation data based on accumulated data, such as designating specified items on the computer 4 with a mouse or a keyboard, or searching a database.
Here, there is an error between the teaching data and the shape, position, and orientation of the actual work workpiece W (see FIG. 2). As described above, the sensing operation is performed before the welding wire 3 is brought into contact with the actual work workpiece W. The data needs to be corrected.

In step S2, therefore, it is determined whether the three sensing positions P designated by the discrete point determination means M2 match the discrete points D on the discrete work model DM in an offline environment.
When the discrete point determination means M2 determines that the three sensing positions P do not coincide with the discrete points D, the process proceeds to the next step S3.

  When the three sensing positions P coincide with the discrete points D, that is, when the welding wire 3 contacts the discrete points D on the actual work W, the three sensing positions P set first are passed. If the circle is calculated, an error between the teaching data and the actual work W does not occur, and the above-described interference or the like does not occur without estimating the real work model RM and resetting the sensing position P described below. Therefore, appropriate sensing operation data can be generated.

In step S3, the model estimation means M3 extracts a circle RC passing through the end point EP at the edge E between the contact surface T and the reference surface K as a real work model RM.
As shown in FIGS. 4 (a) and 4 (b), by setting three sensing positions P (initially set sensing positions P1) in the discrete work model DM, the computer 4 corresponds to each sensing position P. The contact surface T with which the welding wire 3 to be contacted is determined (can be uniquely extracted for each sensing position P). And the intersection line (edge E) of these contact surfaces T and the reference surface K (upper surface of a flat plate material) standing by these contact surfaces T can also be extracted.

Next, as shown in FIGS. 4C and 4D, one circle RC passing through all the end points EP of the extracted edge E (six) is extracted as a real work model RM.
[Method for Generating Sensing Operation Data in the Present Invention: Resetting Sensing Operation Data Based on Real Work Model]
In step 4, the resetting means M4 resets the sensing position P on the real work model RM, and generates sensing operation data including the sensing position P2 after the resetting.

The resetting to the sensing position P2 is performed using the sensing position P1 set first.
For example, as shown in FIGS. 5A and 5B, a straight line L passing through the first sensing position P1 and extending from the arc center O of the circle, which is the real work model RM, along the radially outward direction of the circle is set. To do. A point where the straight line L intersects with the circle of the real work model RM is reset as a new sensing position P2.

Since three initial sensing positions P1 are set on the discrete work model DM, three reset sensing positions P2 are also provided on the real work model RM.
Here, since the real work model RM is obtained by interpolating between the discrete points D so as to follow the shape of the actual work workpiece W, the sensing position P2 on the real work model RM is the actual work workpiece W. It will be located above.

Therefore, the sensing position P at which the welding wire 3 can come into contact with the actual work W can be set in an offline environment without moving the actual work manipulator 2, and appropriate sensing operation data can be automatically generated. Become.
Note that the above-described resetting of the sensing position P2 may be performed according to the following procedure.
As shown in FIGS. 5A and 5C, a straight line L ′ that passes through the first sensing position P1 and extends in the radially outward direction of the circle along the moving direction (sensing vector SV) of the welding wire 3 before resetting. Set. A point where the straight line L ′ intersects with the real work model RM is set as a reset sensing position P2.

Similarly in this case, the sensing position P2 placed on the real work model RM is located on the actual work work W.
Therefore, appropriate sensing operation data can be automatically generated in an offline environment.
As described above, by performing Steps S1 to S4 for the sensing operation, it is possible to automatically generate sensing operation data indicating the appropriate sensing position P in an offline environment, and this sensing operation data is used as the actual work manipulator 2 machine. If it is applied to, the correction and resetting by the work operator are not required, the correction value of the center position in the arc portion C of the work workpiece W can be reliably detected, and the teaching work load can be reduced.

The present invention is not limited to the embodiment described above. Each configuration of the sensing operation generation device 1 or the like, or the overall structure, shape, dimensions, and the like can be appropriately changed in accordance with the spirit of the present invention.
The sensing operation generation device 1 of the work manipulator 2 determines whether the sensing position P matches the discrete point D by the discrete point determination unit M2, but does not have the discrete point determination unit M2, that is, the sensing position P is Regardless of whether or not it coincides with the discrete point D, the real work model RM may always be estimated.

The work manipulator 2 is not limited to a manipulator for welding, and various manipulators such as for painting and assembling may be used.
The contact-type sensor 3 is not limited to a contact-type welding wire in which a current is passed through the wire to check a short-circuit state at the time of contact, and may be a load detection sensor having a load cell.
The resetting means M4 resets the sensing position P2 on the real work model RM by connecting the sensing position P1 before resetting and the arc center O, but the real position closest to the sensing position P1 before resetting is reset. A point on the work model RM may be set as the reset sensing position P2.

DESCRIPTION OF SYMBOLS 1 Sensing action production | generation apparatus 2 Work manipulator 3 Contact type sensor (welding wire)
4 Computer W Work work C Arc part of work work D Discrete point DM Discrete work model RM Real work model T Contact surface K Reference surface E Intersection line (edge) between contact surface and reference surface
EP Edge point RC Arc passing through edge point P Sensing position O Arc center P1 Sensing position before resetting P2 Sensing position resetting M1 Sensing operation designating means (data generating means)
M2 discrete point judging means M3 model estimating means M4 resetting means

Claims (16)

A sensing operation generation method for generating sensing operation data used when a work manipulator including a contact sensor capable of contacting a work workpiece having an arc portion performs a sensing operation,
Based on a discrete work model in which the arc part of the work piece is approximated by discrete points, a real work model in which the discrete points are interpolated is estimated,
A sensing operation generation method for a work manipulator, wherein sensing operation data of the work manipulator is generated based on the estimated real work model.   The method for generating a sensing operation of a work manipulator according to claim 1, wherein the real work model is estimated by interpolating between the discrete points with an arc shape.   When estimating the real work model, a contact surface where a contact-type sensor contacts the discrete work model is extracted, and an intersection line between the extracted contact surface and a reference surface on which the contact surface is erected is extracted and extracted. 3. The method for generating a sensing operation of a work manipulator according to claim 1, wherein an arc passing through the end point of the intersecting line is extracted as the real work model.   The method for generating a sensing operation of a work manipulator according to claim 1, wherein the discrete work model is configured by a polygon having the discrete points as vertices.   When generating the sensing operation data, a sensing position where a contact-type sensor contacts the discrete work model is obtained, the obtained sensing position is reset on the real work model, and the reset sensing position is included. 5. A sensing operation generation method for a work manipulator according to claim 1, wherein the sensing operation data is generated.   When generating the sensing operation data, a straight line extending radially outward from the arc center of the real work model passing through the sensing position before being reset and interpolating between the discrete points by an arc shape intersects the real work model. The method according to claim 5, wherein the point is reset as a sensing position.   When generating the sensing operation data, a point where a straight line that passes through the sensing position before being reset and overlaps the moving direction of the contact sensor intersects the real work model is reset as the sensing position, The method for generating a sensing operation of the work manipulator according to claim 5. Determining whether a sensing position at which the contact sensor contacts the discrete work model matches a discrete point;
The method for generating a sensing operation of a work manipulator according to claim 1, wherein the real work model is estimated when the sensing position is determined to be inconsistent with a discrete point. A sensing operation generation device that generates sensing operation data used when a work manipulator including a contact sensor capable of contacting a work workpiece having an arc portion performs a sensing operation,
Model estimation means for estimating a real work model interpolated between the discrete points based on a discrete work model in which the arc portion of the work piece is approximated by discrete points;
A sensing operation generation device for a work manipulator, comprising: data generation means for generating sensing operation data of the work manipulator based on the estimated real work model.   10. The sensing operation generation device for a work manipulator according to claim 9, wherein the model estimation unit is configured to interpolate between the discrete points by an arc shape.   The model estimation means extracts a contact surface where a contact-type sensor contacts the discrete workpiece model, extracts an intersection line between the extracted contact surface and a reference surface on which the contact surface is erected, and extracts the extracted intersection. The sensing operation generation device for a work manipulator according to claim 9 or 10, wherein an arc passing through an end point of a line is extracted as the real work model.   The sensing operation generation device for a work manipulator according to any one of claims 9 to 11, wherein the discrete work model is formed of a polygon having the discrete points as vertices.   The data generation means obtains a sensing position where a contact sensor contacts the discrete work model, resets the obtained sensing position on the real work model, and includes sensing operation data so as to include the reset sensing position. The sensing operation generation device for a work manipulator according to any one of claims 9 to 12, characterized in that:   The data generation means, the point where the straight line extending from the arc center of the real work model passing through the sensing position before resetting and interpolating between the discrete points by an arc shape intersects the real work model, The sensing operation generating device for a work manipulator according to claim 13, wherein the sensing operation generating device is configured to reset the sensing position.   The data generation means is configured to reset as a sensing position a point that passes through the sensing position before being reset and overlaps with the movement direction of the contact sensor intersects the real work model. The sensing operation generation device for a work manipulator according to claim 13. A discrete point judging means for judging whether a sensing position at which the contact sensor contacts the discrete work model coincides with a discrete point;
The said model estimation means is comprised so that the said real work model may be estimated when a sensing position is judged to be inconsistent with a discrete point by the said discrete point judgment means. A sensing operation generation device for a work manipulator according to any one of the above.