JP2015098076A - Robot program creation method, robot program creation device, program, and recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot program creation method for determining whether or not a correction of a motion trajectory is necessary while a user is creating a robot program.SOLUTION: In response to the input of a teaching point for teaching a robot, an operation unit checks whether or not the teaching point overlaps a singular point or an interference point, and then sets the teaching point checked (S1). The operation unit calculates a plurality of interpolation points on a motion trajectory, each time it receives the input of such an operation one of statements as creates a motion trajectory between the teaching points (S5). The operation unit determines whether or not such one of the plural interpolation points as overlaps the singular point or the interference point is present (S6).

Description

  The present invention relates to a robot program creation method, a robot program creation device, a program, and a recording medium for verifying the operation of a robot during creation of a robot program that combines instructions for the robot.

  Robot programming is generally performed using a language called a robot language. For example, a robot program is created by combining motion commands such as Movs P1 (linear interpolation movement from the current position toward the teaching point P1).

  In recent years, it has become possible to perform a number of processes on a single workstation, and singular points and interference points with peripheral devices are likely to occur in the robot's motion trajectory. Under such circumstances, a technique disclosed in Patent Document 1 has been known regarding a method of creating a robot program so that interference does not occur at each teaching point.

  In Patent Document 1, a robot model and a work model for creating a robot program are displayed on a display screen, whether to perform interference check, whether to perform near miss check, and a near miss distance are set in advance. Move to teaching point. The presence or absence of interference at this time is determined. As a result of the determination, if an interference or a near miss occurs, a warning is issued, and the operator changes the guidance route of the robot model according to the warning. This operation was repeated, and this operation was performed for all teaching points of the robot, and when the interference disappeared, the program was completed.

JP 2006-190228 A

  By the way, the motion trajectory of the robot realizes a smooth movement by interpolating between teaching points. However, when a robot program is to be created using the motion program creation method described in Patent Document 1, interference is generated in the motion trajectory between the teaching points in order to check only whether interference occurs at the teaching points. There was a problem of not knowing whether or not there exists. Further, the motion program creation method described in Patent Document 1 has a problem that it is not known whether or not there is a point that is a singular point in the motion trajectory. For this reason, there is a case where it is found that there is a problem on the trajectory at the time when the simulation or the actual machine operation confirmation is performed after the creation of the robot program, and there is a problem that reworking the robot programming, so-called reworking occurs.

  Accordingly, an object of the present invention is to provide a robot program creation method, a robot program creation device, a program, and a recording medium that allow a user to determine whether or not the motion trajectory needs to be corrected during creation of the robot program.

  The present invention is a robot program creation method in which a computation unit verifies the operation of the robot according to the robot program during creation of a robot program that combines instructions for the robot, and the computation unit teaches the robot A teaching point input process that receives input of the first teaching point and the second teaching point, and the calculation unit creates an operation trajectory between the first teaching point and the second teaching point in the command statement. An interpolation point calculation step of calculating a plurality of interpolation points on the movement trajectory each time an operation command statement is input, and the calculation unit includes the singular point of the robot or the robot among the plurality of interpolation points. And a determination step of determining whether or not there is a superposition interpolation point that overlaps an interference point that interferes with another member.

  According to the present invention, since the user can determine whether or not the motion trajectory needs to be corrected during the creation of the robot program, it is possible to create a suitable robot program with little rework.

It is explanatory drawing which shows schematic structure of the robot system which concerns on 1st Embodiment. It is a block diagram which shows the robot program creation apparatus which concerns on 1st Embodiment. It is a schematic diagram showing a robot controller and a robot program creation device concerning a 1st embodiment. It is a schematic diagram which shows the state which set the teaching point in the world coordinate system. It is a flowchart which shows the robot program creation method which concerns on 1st Embodiment. It is a figure which shows the robot program creation apparatus with which the program was installed. It is a flowchart which shows the robot program creation method which concerns on 2nd Embodiment. It is a flowchart which shows the robot program creation method which concerns on 3rd Embodiment. It is a flowchart which shows the robot program creation method which concerns on 4th Embodiment. It is a flowchart which shows the robot program creation method which concerns on 5th Embodiment.

  Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings.

[First Embodiment]
FIG. 1 is an explanatory diagram showing a schematic configuration of the robot system according to the first embodiment of the present invention. The robot system 100 includes a vertically articulated robot 200, a control device 300 that is a robot controller, and a robot program creation device 400.

  The robot 200 has a multi-axis (for example, 6-axis) robot arm 201 and an end effector 202 such as a gripper-like robot hand attached to the tip of the robot arm 201, and is controlled by a power line and a communication line. It is connected to the device 300. The control device 300 is connected to the robot program creation device 400 via a communication line.

  As a representative point of the end effector 202 of the robot 200, a tool center point (TCP) 203 is set at the gripping center of the gripper.

  By using the robot program creation device 400, the user creates a text-format robot program consisting of command statements and control statements written in a robot language. At that time, the robot program creation device 400 simulates the motion of the robot 200 based on the motion command statement in the command statement during the creation of the robot program.

  FIG. 2 is a block diagram showing the robot program creation device 400 according to the first embodiment of the present invention. The robot program creation device 400 includes a device main body 411 and input / output devices 421, 422, and 423 connected to the device main body 411.

  The apparatus main body 411 includes a CPU (Central Processing Unit) 401 as a calculation unit. The apparatus main body 411 includes a ROM (Read Only Memory) 402, a RAM (Random Access Memory) 403, and an HDD (Hard Disk Drive) 404 as storage units. In addition, the apparatus main body 411 includes a recording disk drive 405 and various interfaces 406 to 409.

  A ROM 402, a ROM 403, an HDD 404, a recording disk drive 405, and various interfaces 406 to 409 are connected to the CPU 401 via a bus 410. The ROM 402 stores basic programs such as BIOS. The RAM 403 is a storage device that temporarily stores various data such as the arithmetic processing result of the CPU 401.

  The HDD 404 is a storage device that stores arithmetic processing results of the CPU 401, various data acquired from the outside, and the like, and records a program (robot program creation program) 430 for causing the CPU 401 to execute various arithmetic processing described later. It is. The CPU 401 executes each process of the robot program creation method based on the program 430 recorded (stored) in the HDD 404.

  The recording disk drive 405 can read various data and programs recorded on the recording disk 431.

  A teaching device (teaching pendant) 421 serving as a teaching unit is connected to the interface 406. The teaching pendant 421 designates teaching points for teaching the robot 200 by a user input operation. The teaching point data is output to the CPU 401 or the HDD 404 through the interface 406 and the bus 410. That is, the CPU 401 receives input of teaching point data from the teaching pendant 421 or the HDD 404.

  A display device (monitor) 422 serving as a display unit is connected to the interface 407 and displays image data under the control of the CPU 401.

  An operation device (keyboard) 423, which is an operation unit capable of inputting a robot program that combines commands for the robot 200, is connected to the interface 408. When the user performs a key input operation on the keyboard 423, a signal corresponding to the user's operation is output from the keyboard 423 to the CPU 401. Specifically, when the user inputs a command statement or a control statement into the keyboard 423, the command statement or control statement data is output from the keyboard 423 to the CPU 401. As a result, the CPU 401 receives an input of a command sentence or a control sentence from the keyboard 423. Note that the robot program creation device 400 may include a mouse as an operation unit.

  A control device 300 is connected to the interface 409 and can communicate with the control device 300.

  FIG. 3 is a schematic diagram showing the control device 300 and the robot program creation device 400 according to the first embodiment of the present invention.

  In the robot program creation device 400, for example, the HDD 404 as a storage unit stores mechanical information 701 and teaching point information 702 representing the positional relationship between the robot 200 and other members (for example, a workpiece (not shown)). Further, the HDD 404 stores polygon information 703 that represents the shape of the robot 200 and the shapes of other members arranged around the robot 200.

  In the robot program creation device 400, the CPU 401 as a calculation unit executes the program 430 to function as an inverse kinematic calculation module 705 and a teaching point interpolation module 706.

  Here, the teaching point is a point that is necessary for teaching the robot 200 of the movement, posture, and procedure, and is a point that normally positions the representative point 203 of the end effector 202 there.

  The inverse kinematics calculation module 705 calculates a command to each axis of the robot 200 when positioning the representative point 203 at the set teaching point. The teaching point interpolation module 706 calculates interpolation points between teaching points according to the operation command. For example, if the motion command is a linear interpolation command, the teaching points are evenly divided so that the dividing points are arranged on a straight line between the teaching point that is the start position of the motion and the teaching point that is the end position of the motion. This division point becomes an interpolation point.

  As a robot language, a standard SLIM-compliant grammar is used. The mechanical information 701, the teaching point information 702, and the robot program (not shown) created by the robot program creation device 400 are transferred to the control device 300 via the communication line 607 and used for controlling the robot 200.

  Similar to the robot control module 704 and the robot program creation device 400, the control device 300 includes an inverse kinematic calculation module 705 and a teaching point interpolation module 706. The robot control module 704 interprets a robot program (not shown) and gives a command to each axis of the robot 200 to control the robot 200.

  In the first embodiment, before creating a robot program, the CPU 401 receives input of teaching point data from the teaching pendant 421 or the HDD 404 (teaching point input step). Then, prior to setting the teaching point, the CPU 401 determines whether the teaching point is located at a singular point or a point where the robot 200 interferes with another member (interference point).

  FIG. 4 is a schematic diagram showing a state where teaching points are set in the world coordinate system Σ1. In FIG. 4, the teaching points P0, P1, P2, and P3 are set, and the representative point 203 is positioned at the teaching point P0.

  When setting the teaching points P0, P1, P2, and P3, the CPU 401 checks that the teaching point itself is not a singular point, and if it is not an interference point, the teaching point itself is not a singular point or interference point. Is guaranteed.

  The singular point is also called a singular posture, which means a posture where a theoretically infinite speed is required for a certain joint speed, and is a point that must be avoided in the trajectory of the robot 200. In the singularity check, whether or not the posture is singular can be determined by solving inverse kinematics for each teaching point and obtaining each joint angle.

  Similarly, in the interference point check, if each joint angle is obtained, contact determination between polygons representing the robot 200 and the jig (other member) using the mechanical information 701 and polygon information 703 in the world coordinate system Σ1 (distance check) )It can be performed.

  In the first embodiment, the CPU 401 verifies the operation of the robot 200 according to the robot program while creating the robot program described in the robot language by combining the statements for the robot 200.

  Hereinafter, the robot program creation method of the first embodiment will be described based on the flowchart of FIG. The operation of the robot 200 is to hold a workpiece (not shown) with the end effector 202 positioned at the teaching point P0, and move in the order of the teaching point P1, the teaching point P2, and the teaching point P3 to move the workpiece at the teaching point P3. Assume an operation of releasing (not shown). In the first embodiment, it is assumed that these teaching points have been set before inputting the robot program and the singular point check and interference point check have been cleared.

  First, before inputting the robot program, the CPU 401 sets a plurality of teaching points (S1). At this time, the teaching point is set so as not to be a singular point or an interference point. In addition, the CPU 401 stores the operation start point (for example, the teaching point P0) in the storage unit.

  Next, the CPU 401 determines whether or not the input of the robot program has been completed (S2). The user inputs whether or not to end the program input using the keyboard 423 or the like. That is, the CPU 401 determines whether or not the input of the robot program has been completed according to the input operation of the user. When the CPU 401 determines that the input of the robot program has ended (S2: Yes), the CPU 401 transitions to the end state, and when it determines that the input of the robot program has not ended (S2: No), the next step Transition to S3.

  The CPU 401 receives an input when the user inputs or edits a command sentence or a control sentence constituting the robot program using the keyboard 423 (S3). The command statement includes an operation command statement indicating an operation command, an I / O command statement indicating an I / O command, and the like.

  Next, the CPU 401 determines whether or not the command statement input / edited in step S3 is an operation command statement (S4). The motion command statement is, for example, Movs P1 (linear interpolation movement from the start point (first teaching point) P0 to the end point (second teaching point) P1) or Mov P1 (PTP interpolation movement from the starting point P0 to the end point P1) ), Have a robot language syntax like

  Here, the start point means a teaching point where the robot 200 is currently moving, and the end point means a teaching point where the robot 200 moves next. Since the robot 200 does not move at the robot program creation stage, it is assumed that the robot 200 moves virtually.

  The motion command statement includes a command for designating an interpolation method (such as linear interpolation or PTP interpolation) for creating a motion trajectory. If it is an operation command statement, the process proceeds to the next step S5, and if it is not an operation command statement, the start point is not updated and the process proceeds to step S2.

  In step S5, every time the CPU 401 receives an operation command statement, the CPU 401 operates between the currently stored start point (for example, the teaching point P0) and the end point described in the operation command statement (for example, the teaching point P1). Generate a trajectory. Then, the CPU 401 calculates a plurality of interpolation points on the motion trajectory (interpolation point calculation step). These interpolation points are calculated by equally dividing the teaching points P1 and P2 by a predetermined number of divisions (for example, dividing at intervals of 2 [ms]).

  Next, the CPU 401 determines whether there is an interpolation point (hereinafter referred to as “overlapping interpolation point”) that overlaps (coincides with) the singular point or interference point of the robot 200 among the plurality of interpolation points (S6). : Judgment process). That is, it is determined whether or not there is a singular point or an interference point at the interpolation point. Thus, in step S6, each point of the plurality of interpolation points is checked whether it is a singular point or an interference point (singular point check and interference point check).

  The CPU 401 notifies (presents) the determination result in step S6 to the user (S7, S8: determination result notification step). Specifically, the CPU 401 displays the determination result on the monitor 422. That is, when the CPU 401 determines that there is an overlap interpolation point (S6: Yes), the CPU 422 displays that fact (S7), and when it determines that there is no overlap interpolation point (S6: No), That effect is displayed on the monitor 422 (S8).

  That is, if there is a singular point or an interference point among the plurality of interpolation points, it is Yes and the process proceeds to step S7. If neither the singular point nor the interference point exists among the plurality of interpolation points, the result is No. Therefore, the end point (for example, the teaching point P1) described in the operation command is stored in the storage unit such as the HDD 404 as a new start point. The process proceeds to step S2. If the answer is No in step S6, step S8 may be omitted and the process may proceed to step S2.

  If Yes in step S6, the user is notified that there are singular points and interference points among the interpolation points. As a presentation method, the corresponding line may be highlighted or displayed by a pop-up. After presenting the check result, transition to the end state.

  If No in step S6, the user is notified that there are no singular points and interference points among the interpolation points. As a presentation method, “OK” or the like is displayed.

  6A and 6B are diagrams showing the robot program creation device 400 in which the program 430 is installed. FIG. 6A shows a state before the program 430 is started, and FIG. 6B shows a state where the program 430 is started. A state in which the user is performing an input operation is shown.

  By selecting an appropriate icon (for example, icon I1) from among the icon groups I1 to I4 shown in FIG. 6A with the cursor C (for example, one-clicking or double-clicking a mouse button), the program 430 is activated, A window stands up.

  In FIG. 6B, the number at the left end in the window means the line number of the robot program. In line number 1, a movement command sentence “Movs P1” is described in which linear interpolation movement is performed from the current teaching point (first teaching point) P0 to the next teaching point (second teaching point) P1. When the user performs the description using the keyboard 423 and operates an execution key (for example, the Enter key), the CPU 401 inside the apparatus main body 411 performs a trajectory calculation to perform a singular point check and an interference point check. As a result, since there was no problem, “OK” is displayed on the monitor 422.

  In line number 2, since the I / O command statement (that is, not an operation command) “Out” is described, no check is performed. Line number 3 is the same as line number 1. In line number 4, a command sentence “Movs P3” for linear interpolation movement from the current teaching point (first teaching point) P2 to the next teaching point (second teaching point) P3 is described. As a result of checking the singular point and the interference point by the CPU 401, “NG” is displayed because the interpolation points overlap. In this way, an operation trajectory is generated for each movement command statement to calculate an interpolation point, and it is determined whether each interpolation point overlaps with a singular point or an interference point.

  As described above, according to the first embodiment, since the user can determine whether or not the motion trajectory needs to be corrected while creating the robot program, it is possible to create a suitable robot program with little rework.

  Further, when a singular point or an interference point is generated in the interpolation point, it is presented (notified) to the user on the monitor 422, so that errors due to the singular point or the interference point can be avoided before the actual machine operation is confirmed.

[Second Embodiment]
Next, processing operations performed by the robot program creation device according to the second embodiment of the present invention will be described. FIG. 7 is a flowchart showing a robot program creation method according to the second embodiment of the present invention. The configuration of each part of the robot program creation device is the same as the configuration described in FIG. 2 of the first embodiment, and a detailed description thereof is omitted. In the second embodiment, the difference from the first embodiment is that the robot program creation method using the CPU 401 which is the calculation unit, that is, the contents of the program 430 are different. Will be described.

  Steps S11 to S18 in FIG. 7 are the same as steps S1 to S8 in FIG. Note that the process of step S17 may be omitted.

  If the CPU 401 determines in step S16 that a singular point or interference point exists at the interpolation point (S16: Yes), the CPU 401 warns the user that a singular point or interference point exists in the interpolation point, and performs another interpolation. The user is presented to designate a method (S19: interpolation method presenting step).

  For example, if the CPU 401 uses PTP interpolation as an operation command and issues a warning, the CPU 401 suggests that the user try an interpolation method using linear interpolation. As a warning method, the monitor 422 may highlight the corresponding line or display it in a pop-up.

  Next, the CPU 401 determines whether or not the user has finished inputting the robot program (S20). For example, after issuing a warning using the PTP interpolation command, the CPU 401 determines that the input has not been completed when the linear interpolation command has not been tried (S20: No). In addition, for example, if the CPU 401 issues a warning using the PTP interpolation command and then issues a warning again even if the linear interpolation command is used, it is impossible to avoid singular points and interference points by changing the interpolation method. It is determined that the input is completed (S20: Yes), and the state transits to the end state.

  After presenting another interpolation method to the user, the CPU 401 waits for the user to specify another interpolation method (S21). If another interpolation method is specified by the user, the process proceeds to step S15.

  Thus, according to the second embodiment, by presenting an alternative interpolation method to the user, there is an effect that the user can execute without hesitation that another interpolation method should be tried.

[Third Embodiment]
Next, processing operations by the robot program creation device according to the third embodiment of the present invention will be described. FIG. 8 is a flowchart showing a robot program creation method according to the third embodiment of the present invention. The configuration of each part of the robot program creation device is the same as the configuration described in FIG. 2 of the first embodiment, and a detailed description thereof is omitted. The third embodiment is different from the first and second embodiments in the robot program creation method using the CPU 401 as the calculation unit, that is, the contents of the program 430 are different. A different part from 2 embodiment is demonstrated.

  Steps S31 to S33 in FIG. 8 are the same as steps S1 to S3 in FIG.

  After step S33, the CPU 401 determines whether or not it is an operation command sentence that has received the input (S34). At this time, as the operation command statement, in the first and second embodiments, the command specifying the interpolation method is included. In the third embodiment, the command specifying the interpolation method is included in the operation command statement. There is no need to be.

  If the CPU 401 is not an operation command statement (S34: No), the process proceeds to step S32. When the CPU 401 is an operation command statement (S34: Yes), the CPU 401 generates a plurality of operation trajectories between the start point (first teaching point) and the end point (second teaching point) by using a plurality of different interpolation methods. A plurality of interpolation points are calculated for the trajectory (S35: interpolation point calculation step). For example, the CPU 401 performs interpolation between teaching points by both PTP interpolation and linear interpolation.

  Next, the CPU 401 performs a singular point check and an interference point check of each interpolation point in each motion trajectory (S36: determination step). As a result, it is assumed that there is a singular point or interference point among the interpolation points when one of the interpolation methods is used, and no singular point or interference point exists when the other interpolation method is used.

  Next, the CPU 401 presents the check result in step S36 to the user (S37: motion trajectory presenting step). Specifically, as a result of the determination in step S <b> 36, the CPU 401 displays, on the monitor 422, and presents to the user an operation trajectory that has no overlapping interpolation point that overlaps with a singular point or an interference point.

  Next, the CPU 401 waits for the user to select an interpolation method. When the user selects an interpolation method, the CPU 401 determines the interpolation method and transitions to the process of step S32 (S38).

  As described above, according to the third embodiment, even if the user does not specify the interpolation method in the operation command sentence in advance, the interpolation method with the singular point check of the interpolation point and the interference point checked, that is, the operation not overlapping the singular point and the interference point Since the trajectory can be selected, man-hours can be further reduced.

[Fourth Embodiment]
Next, a processing operation by the robot program creation device according to the fourth embodiment of the present invention will be described. FIG. 9 is a flowchart showing a robot program creation method according to the fourth embodiment of the present invention. The configuration of each part of the robot program creation device is the same as the configuration described in FIG. 2 of the first embodiment, and a detailed description thereof is omitted. In the fourth embodiment, the difference from the first to third embodiments is a robot program creation method using the CPU 401 which is a calculation unit, that is, the contents of the program 430 are different. A different part from 3 embodiment is demonstrated.

  Steps S41 to S46 in FIG. 9 are the same as steps S31 to S36 in FIG. As a result of the determination in step S46, it is assumed that a singular point or an interference point exists in the interpolation point regardless of which interpolation method is used.

  When the CPU 401 determines in step S46 that there is a superposition interpolation point, the CPU 401 prompts the user to correct the end point (second teaching point) (S47: teaching point correction step). Alternatively, when the CPU 401 determines in step S46 that there is an overlap interpolation point, the CPU 401 prompts the user to add an intermediate teaching point between the start point (first teaching point) and the end point (second teaching point) (S47). : Teaching point addition process). In other words, regardless of which interpolation method is used, the user is warned that there are singular points and interference points among the interpolation points, and the user is prompted to correct or add the end point. As a warning method, the corresponding line may be highlighted or displayed in a pop-up.

  The CPU 401 corrects the teaching point by the user (for example, corrects the position of the teaching point P1) or adds (for example, adds the teaching point P4 in the vicinity of the teaching point P1), and transitions to the process of step S42. A singular point check and an interference point check are performed when the teaching point is corrected or added. That is, when the user is prompted by step S47 to correct the end point (second teaching point), in step S45, the CPU 401 again calculates a plurality of interpolation points, and in step S46, the CPU 401 again superimposes. It is determined whether an interpolation point exists.

  Alternatively, when an intermediate teaching point is added in response to the prompt in step S47, the CPU 401 sets the intermediate teaching point as a new end point (second teaching point) and sets the starting point (first teaching point) and the end point in step S45. A motion trajectory is generated in between, and a plurality of interpolation points on the motion trajectory are calculated. In step S46, the CPU 401 determines again whether or not there is an overlap interpolation point.

  As described above, according to the fourth embodiment, since the user can immediately know that the correction / addition of the teaching point is necessary, the man-hour can be further reduced.

[Fifth Embodiment]
Next, a processing operation by the robot program creation device according to the fifth embodiment of the present invention will be described. FIG. 10 is a flowchart showing a robot program creation method according to the fifth embodiment of the present invention. The configuration of each part of the robot program creation device is the same as the configuration described in FIG. 2 of the first embodiment, and a detailed description thereof is omitted. In the fifth embodiment, the difference from the first to fourth embodiments is that the robot program creation method using the CPU 401 which is a calculation unit, that is, the content of the program 430 is different. A different part from 4 embodiment is demonstrated.

  In the fifth embodiment, a teaching point is not set before creating a robot program, or a teaching point is set without performing a singular point check and an interference check, and the teaching point is set and corrected while advancing programming. This is different from the first embodiment in that respect. However, only the teaching point P0 which is the initial position is set. Since the general flow is the same as that in the first embodiment, the difference will be described with reference to FIG.

  Steps S51 to S53 in FIG. 10 are the same as steps S2 to S4 in FIG. 5, and steps S55 to S57 in FIG. 10 are the same as steps S5 to S7 in FIG.

  Here, until step S53, the end point (second teaching point) in the robot program is defined as a variable, no numerical data is input, and numerical data is set in step S54. That is, the CPU 401 operates the teaching pendant 421, receives input of teaching point data as an end point from the teaching pendant 421, and sets a teaching point (for example, teaching point P1) as the end point (S54: teaching). Point input process). At this time, a singular point check and an interference point check are performed, and teaching points are set so as not to be singular points and interference points. The CPU 401 receives an input from the teaching pendant 421, and sets the first teaching point P0 as the first teaching point prior to the teaching point P1. When the starting point (first teaching point) is updated to the teaching point P1, only the teaching point P2 that is the end point (second teaching point) has to be set.

  When the interpolation point between the teaching points is a singular point or an interference point, the CPU 401 prompts the user to correct the end point (second teaching point) (S57: teaching point correcting step). Specifically, the CPU 401 causes the monitor 422 to display, as a check result, that there is an overlapped interpolation point, that is, an interpolation point that overlaps a singular point or an interference point among a plurality of interpolation points.

  Next, the CPU 401 determines whether or not to end the input of the robot program (S58).

  If the singular point or the interference point occurs at the interpolation point regardless of how many times the teaching point is corrected, the CPU 401 ends the input by the user's selection (S58: Yes) and transitions to the end state. . When the teaching point is to be corrected, the input is not terminated by the user's selection (S58: No), and the process proceeds to step S59.

  Next, the CPU 401 waits for the correction of the teaching point by the user. When the teaching point is corrected by the user, the CPU 401 determines the correction and proceeds to the process of step S55 (S59). When the teaching point is corrected, a singular point check and an interference point check are performed.

  As described above, according to the fifth embodiment, the teaching point is set simultaneously with the creation of the robot program. Therefore, programming without reworking is possible without setting a useless teaching point.

  The present invention is not limited to the embodiment described above, and many modifications are possible within the technical idea of the present invention.

  In the above embodiment, the case where the robot program creation device is a device different from the control device 300 has been described. However, the present invention is not limited to this, and the control device 300 may also serve as the robot program creation device.

  In the above embodiment, the teaching point is input using the teaching pendant 421. However, the teaching point may be input using another input device (operation device), for example, the keyboard 423. Good.

  Further, each processing operation of the above-described embodiment is specifically executed by the CPU 401 as a calculation unit. Accordingly, a recording medium in which a program that realizes the above-described function is recorded is supplied to the apparatus main body 411, and a computer (CPU or MPU) of the apparatus main body 411 reads and executes the program stored in the recording medium. May be. In this case, the program itself read from the recording medium realizes the functions of the above-described embodiments, and the program itself and the recording medium recording the program constitute the present invention.

  In the above embodiment, the computer-readable recording medium is the HDD 404, and the program 430 is stored in the HDD 404. However, the present invention is not limited to this. The program may be recorded on any recording medium as long as it is a computer-readable recording medium. For example, as a recording medium for supplying the program, the ROM 402, the recording disk 431, an external storage device (not shown) and the like shown in FIG. 2 may be used. As a specific example, a flexible disk, a hard disk, an optical disk, a magneto-optical disk, a CD-ROM, a CD-R, a magnetic tape, a rewritable nonvolatile memory (for example, a USB memory), a ROM, etc. Can be used.

  Further, the program in the above embodiment may be downloaded via a network and executed by a computer.

  Further, the present invention is not limited to the implementation of the functions of the above-described embodiment by executing the program code read by the computer. This includes a case where an OS (operating system) or the like running on the computer performs part or all of the actual processing based on the instruction of the program code, and the functions of the above-described embodiments are realized by the processing. .

  Furthermore, the program code read from the recording medium may be written in a memory provided in a function expansion board inserted into the computer or a function expansion unit connected to the computer. This includes a case where the CPU of the function expansion board or function expansion unit performs part or all of the actual processing based on the instruction of the program code, and the functions of the above embodiments are realized by the processing.

  Moreover, although the said embodiment demonstrated the case where a computer performed an image process by running the program recorded on recording media, such as HDD, it is not limited to this. A part or all of the functions of the arithmetic unit that operates based on the program may be configured by a dedicated LSI such as an ASIC or FPGA. Note that ASIC is an acronym for Application Specific Integrated Circuit, and FPGA is an acronym for Field-Programmable Gate Array.

DESCRIPTION OF SYMBOLS 100 ... Robot system, 200 ... Robot, 400 ... Robot program production apparatus, 401 ... CPU (calculation part), 421 ... Teaching pendant (teaching part)

Claims (13)

A robot program creation method for verifying an operation of the robot according to the robot program during creation of a robot program combining instructions for the robot,
A teaching point input step in which the arithmetic unit receives inputs of a first teaching point and a second teaching point that teach the robot;
A plurality of interpolation points on the motion trajectory each time the arithmetic unit receives an input of an motion command statement that creates an motion trajectory between the first teaching point and the second teaching point, of the command text. An interpolation point calculating step for calculating
The calculation unit includes a determination step of determining whether there is a superposition interpolation point that overlaps a singular point of the robot or an interference point at which the robot interferes with another member among the plurality of interpolation points. A robot program creation method characterized by the above.   The robot program creation method according to claim 1, wherein the calculation unit includes a determination result notification step of notifying a user of a determination result in the determination step. The motion command statement includes a command for specifying an interpolation method for creating the motion trajectory,
In the interpolation point calculation step, the calculation unit generates the motion trajectory between the first teaching point and the second teaching point by an interpolation method specified by the motion command statement, and the plurality of interpolation points The robot program creation method according to claim 1 or 2, characterized in that:   An interpolation method presenting step of presenting to a user to designate an interpolation method different from the interpolation method when the arithmetic unit determines that the overlapped interpolation point exists in the determination step. Item 4. The robot program creation method according to Item 3.   5. The teaching point correcting step according to claim 1, further comprising a teaching point correcting step that prompts a user to correct the second teaching point when the arithmetic unit determines that the overlapping interpolation point exists in the determining step. The robot program creation method according to claim 1.   When the second teaching point is corrected in the teaching point correction step, in the interpolation point calculation step, the calculation unit calculates the plurality of interpolation points again, and in the determination step, the calculation unit again 6. The robot program creation method according to claim 5, wherein it is determined whether or not the overlapping interpolation point exists.   A teaching point adding step for urging the user to add an intermediate teaching point between the first teaching point and the second teaching point when the arithmetic unit determines that the overlapping interpolation point exists in the determining step The robot program creation method according to any one of claims 1 to 6, further comprising:   When the intermediate teaching point is added in the teaching point adding step, in the interpolation point calculating step, the arithmetic unit again uses the intermediate teaching point as the new second teaching point and re-enters the first teaching point. And a plurality of interpolation points on the movement trajectory are calculated, and in the determination step, the calculation unit again determines whether or not the overlapping interpolation point exists. The robot program creation method according to claim 7, wherein:   In the interpolation point calculating step, the calculation unit generates a plurality of motion trajectories between the first teaching point and the second teaching point by a plurality of mutually different interpolation methods, and for each motion trajectory, The robot program creation method according to claim 1, wherein a plurality of interpolation points are calculated.   The operation unit includes an operation trajectory presenting step of presenting to the user an operation trajectory without the overlapping interpolation point among the plurality of operation trajectories as a result of the determination in the determination step. The robot program creation method described. A teaching unit capable of inputting a first teaching point and a second teaching point to be taught to the robot;
An operation unit capable of input operation of a robot program that combines instructions for the robot;
A calculation unit that receives the input of the robot program from the operation unit and verifies the operation of the robot according to the robot program;
The computing unit is
A plurality of interpolation points on the operation trajectory are calculated each time an operation command statement for creating an operation trajectory between the first teaching point and the second teaching point is received.
An apparatus for creating a robot program, comprising: determining whether there is a superposition interpolation point that overlaps a singular point of the robot or an interference point at which the robot interferes with another member among the plurality of interpolation points.   The program for making a computer perform each process of the robot program creation method of any one of Claims 1 thru | or 10.   A computer-readable recording medium on which the program according to claim 12 is recorded.

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