JP2019193975A - Robot track generation method, robot track generation device, and manufacturing method - Google Patents

Abstract

To generate robot tracks such that, when operating a plurality of robot arms in an actual environment, the risk of crossing each other is markedly reduced in a passage area of the robot arms.SOLUTION: An operation command list including a start point and an end point of a track of a plurality of robot arms is generated (a track definition data generation step: S200). A sequence of generating each of the tracks is determined on the basis of the operation command list (a generation sequence determination step: S210). Relating to a specific robot arm in the operation command list, a track is generated so as to avoid obstacle spaces registered in an obstacle memory when generating tracks of other robot arms, on the basis of the start point and the end point (a track generation step: S230). When the robot arm is operated on the generated track, a sweeping space to be swept by a skeleton of the arm is added to the obstacle memory as an obstacle space that should be avoided by other robot arms (obstacle registration steps; S240 and S250).SELECTED DRAWING: Figure 5

Description

  The present invention relates to a robot trajectory generation method, a robot trajectory generation apparatus, and a manufacturing method for generating a trajectory for operating a plurality of robot arms that are arranged and operated in a common work area by a control device.

  In recent years, in industrial product production lines and the like, robot apparatuses such as industrial robots have been frequently used for operations such as assembly, processing, conveyance, coating, and painting. In this type of production line, multiple robot devices are placed close together to improve production capacity and save space, and work can be performed simultaneously or in cooperation within a common work area. There are things to do. As described above, when a plurality of robot apparatuses are operated in a common work area, it is necessary to perform control so that interference (contact or collision) does not occur between the robot arms.

  To teach robot motion, an operation device called a teaching pendant must be used to input the robot trajectory that changes the position and orientation of the robot arm while checking the robot device by moving it in the actual work environment. There is. Also, a robot programming method may be used in which a 3D virtual display of the work area of the robot apparatus is performed on the display device of the robot control terminal, and trajectory input is performed while operating the robot apparatus in this virtual environment. In robot teaching using such a virtual environment, input means such as a keyboard, a pointing device, and a touch panel are used for inputting teaching points, instead of controlling the robot apparatus in the virtual environment and teaching pendant.

  In the conventional robot teaching (programming) including the manual operation process of the instructor as described above, the instructor considers the path and trajectory through which the robot passes, and the timing for operating each robot so that the robots do not interfere with each other. It is necessary to perform teaching work by trial and error. Therefore, in the conventional method in which the specific gravity of the manual operation of the teacher is large, as the number of robots and the total number of operations increase, it is difficult to secure a trajectory without interference between the robots, There is a problem that it takes time. Of course, if there is a change in the arrangement of peripheral equipment and robots in the production line, the same teaching work must be performed again.

  Therefore, in recent years, a technique for automatically generating a path (orbit) in which a robot does not cause interference has been studied. As such route generation methods, for example, route generation algorithms such as RRT (Rapidly Exploring Random Tree) and PRM (Probabilistic LoadMap Method) have been proposed. By using such a trajectory / path generation technique, the teacher only needs to specify the start point and end point of the robot operation, so the burden of teaching work can be reduced. In addition, since route generation can be performed by computer computation in a virtual space that simulates the work environment, a route that does not cause interference in a short amount of time even if changes in the arrangement of peripheral equipment and robots in the production line occur. Can be recalculated.

  Each robot not only generates a path that does not interfere with obstacles in the work environment, but also includes a plurality of robots whose position and orientation changes every moment in the work environment. A technique for generating a robot trajectory that does not cause interference between the two has also been proposed.

  For example, in Patent Document 1 below, interference between robots is avoided by adjusting the timing of starting the robot operation. In the interference avoidance method for a plurality of robots disclosed in Patent Document 1, the priority order of the operation of each robot is set, and the planned passing region of the robot by the operation of each robot within a predetermined time, or an occupied region that is an enlarged region including the region is set. Calculate sequentially. Then, it is determined whether or not there is an overlap between the calculated occupied areas, and if there is an overlap, the one robot with the lower priority is made to stand by and the other robot with the higher priority is operated. In addition, the occupied area of the other robot is sequentially released for portions that have already been operated during the operation of the other robot. Then, based on the change in the occupation area of the other robot, the operation of one robot is started after the overlap is eliminated.

  In the following Non-Patent Document 1, interference between robots is avoided by adjusting the speed at the time of robot operation. In the trajectory generation of Non-Patent Document 1, the path from the start point to the end point of each robot is calculated assuming that no other robot exists, and then a graph is generated using the position of each robot on the path as a parameter. Then, on the generated graph, a search is made for a combination of positions on the path of each robot that does not interfere, and the combination of the first obtained path and the position on the path of each robot is combined to operate while adjusting the speed. We have obtained trajectories that do not interfere with each other.

JP-A-8-166809

G. Sanchez and J.-C. Latombe, "On delaying collision checking in PRM planning: Application to multi-robot coordination" International Journal of Robotics Research, vol. 21, no. 1, pp. 5-26, 2002

  The trajectory control described in Patent Document 1 and Non-Patent Document 1 is premised on synchronous control. For example, in any trajectory control, after determining the path and trajectory of each robot, the trajectory without interference between the robots can be controlled and adjusted synchronously with the timing of operating each robot and the speed of each robot's operation. Is generated.

  However, even if the conventional trajectory control as described above is performed, there is a possibility that the passing area of the robot at a certain time intersects with the passing area of another robot at another time. That is, in the above prior art, since control is performed so that the robots do not interfere with each other on the time axis, if there is a deviation in the robot operation speed or operation timing in the actual environment, the robot arms Interference can occur. For example, if one robot out of multiple robots stops abnormally on a common passage area, or the actual movement speed of the robot is far from the ideal speed, the robots may interfere with each other There is.

  In addition, the conventional trajectory control described above is a technique for controlling a plurality of robots so that they do not occupy the same space at a specific time, and requires operations related to both the space axis and the time axis. There is a possibility that a large calculation load is required and a large amount of calculation resources are required.

  In view of the above problems, the problem of the present invention is that in the generation of a robot trajectory, there is a possibility that the passing areas of a plurality of robot arms intersect each other reliably regardless of the operation speed of the robot arm in the actual environment and the accuracy of timing control. Is to be able to significantly reduce. Another object of the present invention is to enable orbit generation at high speed even with a low-speed control device.

  In order to solve the above problems, in the present invention, in a robot trajectory generation method for generating a trajectory for operating a plurality of robot arms arranged close to each other by a control device, the control device passes the robot arm. The storage process for storing the first spatial data as a space to avoid in the memory, and the control device avoids the space corresponding to the first spatial data based on the trajectory definition data including the start point and the end point. Based on the first generation process for generating a trajectory in which one robot arm operates and the trajectory generated in the first generation process, the second robot arm passes through the space through which the housing of the first robot arm passes. Based on trajectory definition data including a second generation process for generating second spatial data as a space to avoid and a start point and an end point. While avoiding space corresponding to the over data and the second space data, said second robot arm is adopted a construction having a third generation step of generating a trajectory to operate.

  According to the above configuration, in the generation of the robot trajectory, it is possible to significantly reduce the possibility that the passing areas of the plurality of robot arms intersect each other regardless of the operation speed of the robot arm in the actual environment and the accuracy of the timing control. it can. Further, according to the above configuration, since calculation and control related to the time axis are not used for obstacle avoidance of the robot arm, high-speed trajectory generation is possible even when a low-speed control device is used.

It is explanatory drawing which showed the structure of the robot track | orbit production | generation system which can implement this invention. FIG. 3 is a block diagram illustrating a configuration of a control system of the trajectory generation device according to the first embodiment. It is the flowchart figure which showed the outline of the flow of the track | orbit production | generation control of Examples 1-3. FIG. 3 is an explanatory diagram illustrating two robot arms according to the first embodiment. FIG. 3 is a flowchart illustrating a flow of trajectory generation control according to the first embodiment. (A)-(c) is explanatory drawing which showed the track | orbit of two robot arms which concern on Example 1, and its passage area | region. FIG. 10 is a flowchart showing a flow of trajectory generation control according to the second embodiment. (A)-(d) is explanatory drawing which showed the track | orbit of two robot arms which concern on Example 2, and its passage area | region. (A)-(d) is explanatory drawing which showed the track | orbit of two robot arms which concern on Example 2, and its passage area | region. FIG. 10 is a diagram illustrating timings of two robot arm operations according to the second embodiment. (A)-(f) is explanatory drawing which showed the track | orbit of two robot arms which concern on Example 3, and its passage area | region. FIG. 10 is a diagram illustrating timings of two robot arm operations according to the third embodiment. FIG. 10 is a flowchart illustrating a flow of trajectory generation control according to the third embodiment. It is explanatory drawing of the user interface for the operation command input which can be implemented in the robot track generation system of FIG. (A)-(c) is explanatory drawing which showed the transition of the data content in the obstacle memory in Example 1. FIG. (A)-(f) is explanatory drawing which showed the transition of the data content in the obstacle memory in Example 2. FIG. (A)-(f) is explanatory drawing which showed the transition of the data content in the obstacle memory in Example 3. FIG. It is the flowchart figure which showed the example of control of the principal part of the trajectory generation control which concerns on Examples 1-3.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described with reference to embodiments shown in the accompanying drawings. The following embodiment is merely an example, and for example, a detailed configuration can be appropriately changed by those skilled in the art without departing from the gist of the present invention. The numerical values taken up in the following embodiments are reference numerical values and do not limit the present invention.

  The “robot” referred to in this specification may have any configuration as long as it is operated and controlled by a power source such as a motor, and the present invention is limited by the basic configuration. Is not to be done. In the following embodiments, a robot trajectory generation method and a trajectory generation apparatus according to the present invention will be described taking a vertical serial link type multi-joint robot arm having a rotating joint as an example. However, the present invention can also be implemented when, for example, a plurality of articulated robots on the parallel link side or a plurality of robots moving on a plane are arranged in the work environment to generate the trajectory.

<Example 1>
1 and 2 show the configuration of a robot trajectory generation system according to Embodiment 1 of the present invention. FIG. 1 shows the configuration of the entire robot trajectory generation system. In FIG. 1, for example, the arithmetic processing unit 1 can be configured using hardware such as a PC (personal computer). The arithmetic processing unit 1 is connected with a keyboard 11 and a mouse 12 (or a pointing device such as a track pad) as an input unit for an operator (robot teacher) to input an operation command. Further, a display 13 is connected as a display device for confirming an operation command input by the operator and a robot trajectory generated based on the operation command.

  An external storage device 14 and a network interface 31 can be connected to the arithmetic processing unit 1. The external storage device 14 in FIG. 1 is mainly composed of a disk device such as an external HDD or SSD, or various optical disk devices. The network interface 31 is used to transfer operation command data and the like to the actual robot arm.

  Further, the external storage device 14 and the network interface 31 can be used as an installation / updating unit for installing a robot trajectory generation program described later in the arithmetic processing unit 1 or updating the installed program. In this case, for example, the external storage device 14 can be constituted by an optical disk device or the like that can exchange media. A control program for carrying out the present invention can be installed in the arithmetic processing unit 1 via the optical disk and can be updated. Similarly, a control program for carrying out the present invention can be installed in the arithmetic processing unit 1 by using a predetermined network protocol via the network interface 31 and can be updated.

  In the robot trajectory generation device of FIG. 1, for example, trajectories are generated for a plurality (in this case, two) of robot arms 5 and 6 arranged in the same work environment. In the work environment of the robot arms 5 and 6, there may be an obstacle 7 that should avoid interference and collision with the robot arms 5 and 6. The obstacle 7 is an object other than the robot arms 5 and 6 such as another component supply device, a ventilation duct, or the casing of the arithmetic processing unit 1. In the trajectory generation control described later, the robot trajectory is generated so that the robot arms 5 and 6 do not interfere with the obstacle 7 and the robot arms 5 and 6 do not interfere with each other.

  An operator (robot administrator, robot programmer, etc.) inputs an operation command for the robot arms 5 and 6 via the user interface displayed on the display 13 using the keyboard 11 and the mouse 12 (orbits). Definition data input). The user interface configured by the graphic display on the display 13 includes, for example, a dialog display as shown in FIG. 14 described later or a GUI based on the following 3D virtual display. In the operation command input of the present embodiment, the worker inputs trajectory definition data including, for example, the start point and end point (three-dimensional coordinates) of the trajectory to be generated.

  The arithmetic processing unit 1 generates an operation command list composed of trajectory definition data based on the input operation command input, and generates a trajectory for the robot arms 5 and 6 based on the operation command list.

  Note that the robot trajectory generation apparatus in FIG. 1 may be connected to an actual robot arm that is the target of trajectory generation, and can generate a robot trajectory even in an offline environment without connection to the robot arm. It is configured as follows. In the robot trajectory generation in the offline environment, 3D virtual display of the robot arms 5 and 6 to be programmed is performed on the display 13. Such a 3D virtual display GUI can be configured such that an arm or a joint thereof virtually displayed on the display 13 can be operated using the keyboard 11, the mouse 12, or the like.

  By using such a virtual environment, in addition to the dialog display as described later (for example, FIG. 14 described later), by operating the robot arms 5 and 6 displayed virtually, the start point and end point of the robot trajectory Position, posture) can be input. Also, according to such a virtual environment, operations such as changing the arrangement of robot arms and obstacles in the virtual space are possible as necessary.

  FIG. 2 shows an example of the configuration of the control system of the arithmetic processing unit 1 as a block diagram. The illustrated configuration is configured by connecting various components such as a CPU 20, a ROM 21, a RAM 22, and an HDD 23 (for example, those built in the casing of the arithmetic processing unit 1) on a system bus 29.

  The external storage device 14 in FIG. 1 is connected to a system bus 29 via an interface 28. In FIG. 1, an optical disk device is illustrated as a member constituting the external storage device 14 in particular, but such a disk device is shown as a recording disk drive 24 in FIG. 2. The recording disk drive 24 can read data on the recording disk 15 configured in a format such as various optical disks, or can further write data to the recording disk 15. Therefore, the recording disk 15 can be used for input / output of a control program for implementing the present invention, for example. In that case, the recording disk 15 constitutes a computer-readable recording medium of the control program.

  The keyboard 11, mouse 12, and display 13 in FIG. 1 are connected to a system bus 29 via interfaces 25, 26, and 27, respectively. The network interface 31 controls communication between the external network 32 and the system bus 29. For this communication, TCP / IP or various communication protocols executed on the TCP / IP can be used.

  A trajectory generation program to be described later can be executed on, for example, an OS that operates on the arithmetic processing unit 1 described above. Depending on the configuration of the OS (operating system), a virtual storage unit using a storage area such as the HDD 23 can be used. In that case, an area such as an obstacle memory described later may be secured not only on a main storage device such as a RAM but also on such a virtual storage unit (by the HDD 23 or the like).

  FIG. 4 shows a schematic configuration of a work environment including robot arms 5 and 6 that are trajectory generation targets of the present embodiment and an obstacle 7. Here, for ease of explanation, a very simplified configuration is shown as the configuration of the robot arm. For example, the robot arms 5 and 6 in FIG. 4 are three-joint robot arms. In the following, for convenience of explanation of the control, the robot arms 5 and 6 may be referred to by alphabets A and B, respectively.

  The robot arm 5 includes three links 55, 56, and 57 and joint shafts 51, 52, and 53 that connect them, and an end effector 54 such as a robot hand is provided at the tip of the link 57. . The robot arm 6 includes links 65, 66 and 67, joint shafts 61, 62 and 63, and an end effector 64. The three joint axes of each robot arm 5 and 6 have a rotation drive mechanism, and the positions of the end effectors 54 and 64 positioned at the tips of the robot arms 5 and 6 are determined by the rotation angle.

  The rotation drive mechanism for the joint shafts of the robot arms 5 and 6 includes a drive system such as a servo motor (not shown) or a speed reducer, and can control the rotation angle based on the robot control data. For example, the end effectors 54 and 64 such as a robot hand can control the control conditions such as the opening degree of the finger via a drive system such as a similar servo motor or speed reducer. With such a configuration, by transmitting robot control data to the robot arms 5 and 6, each arm can be controlled to a specific position and orientation, and a specific operation can be performed by the end effectors 54 and 64. In addition, although the drive source like a servomotor was illustrated above, the joint and the end effector do not necessarily need to be electrically driven and controlled. For example, the joints and end effectors of the robot arms 5 and 6 may be driven by air pressure controlled by robot control data, air pressure or hydraulic pressure of a hydraulic actuator.

  As shown in FIG. 4, the robot arm 5 and the robot arm 6 are arranged close to each other in the work environment, and an obstacle 7 exists in the work environment. For this reason, depending on the angles of the joint axes of the two robot arms, there is a possibility that interference occurs between the links, joint axes, and end effectors of the robot arms. In the trajectory generation control described later, the robot trajectory is generated so that the robot arms 5 and 6 do not interfere with each other. In that case, of course, the robot trajectory is generated so that the robot arms 5 and 6 do not interfere with the obstacle 7.

  Hereinafter, referring to FIG. 3, FIG. 5, FIG. 6, FIG. 14, and FIG. 15, the robot trajectory generation according to the present embodiment, particularly the method for generating the robot trajectory so that the passing areas of a plurality of robots do not cross each other. explain.

  FIG. 3 shows the overall flow of the robot trajectory generation control, and FIG. 5 shows the control procedure for generating the robot trajectory so that the passage areas of the plurality of robots of this embodiment do not intersect each other. FIGS. 6A to 6C show how the trajectory is generated based on the format shown in FIG. FIG. 14 shows a dialog displayed on the display 13 for inputting an operation command, and FIGS. 15A to 15C show transition of data contents in the obstacle memory in the first embodiment.

  In step S100 in FIG. 3, the operator inputs an operation command for the robot arms 5 and 6 through the user interface displayed on the display 13 using the keyboard 11 and the mouse 12. For example, a dialog 131 as shown in FIG. 14 is displayed on the display 13, and the operator is made to input an operation command via this dialog.

  For example, a title bar 1311 including a title display (in this example, “input of operation command”) is displayed at the top of the dialog 131 in FIG. The dialog 131 is divided into a section 1315 for input for the robot arm 5 (A) and a section 1316 for input for the robot arm 6 (B).

  The upper part of each section 1315 and 1316 is an input unit in which each row corresponds to one record corresponding to one operation command, and is divided into input fields 1321 to 1324, for example. The field 1321 is a field for the name of the operation command. In this field, the name of an arbitrary operation command may be input to the worker, and the name of the operation command is automatically and sequentially generated by the CPU 20. May be. In this example, operation commands Ma1, Ma2, and Ma3 are input on the robot arm 5 (A) side, and operation commands Mb1 and Mb2 are input on the robot arm 5 (B) side.

  In the present embodiment, these motion commands are input as trajectory definition data, the trajectory start point and end point data corresponding to the motion command. The start point and the end point are three-dimensional (XYZ) coordinates for moving the reference portion of each arm set at a position such as the tip of the robot arm 5 or 6, for example, the vicinity of the base of the end effector 54 or 64.

  The data of the start point and end point of these trajectories are input in fields 1322 and 1323, respectively. In FIG. 14, Sa1 and Ga1, Sa2 and Ga2, and Sa3 and Ga3 are input as start point and end point data corresponding to the operation commands Ma1, Ma2, and Ma3 of the robot arm 5 (a). In addition, Sb1 and Gb1, and Sb2 and Gb2 are input as start point and end point data corresponding to the operation commands Mb1 and Mb2 of the robot arm 6 (b).

  Here, in each field of the start point and end point data, the character string representations such as Sa1, Ga1,... Are illustrated, but actually, numerical data representations such as three-dimensional coordinate data are used. Can do. In this case, the numerical values of the start point and end point data may be manually input from the keyboard 11 or the like, or may be determined by operating the robot arms 5 and 6 during virtual display. For example, the worker points the space in the virtual display on the display 13 with the mouse 12 and inputs the coordinates of the reference portion of the desired arm. Alternatively, the robot arms 5 and 6 displayed on the display 13 are operated with the mouse 12 and the like, and the position and posture corresponding to the coordinates of the reference part of the desired arm are taken, and the reference part is displayed using a dialog (not shown). The coordinates may be fixed. In either case, numerical data corresponding to the determined coordinates of the reference part is input and displayed in the fields 1322 and 1323 as start point and end point data.

  A field 1324 is arranged in each of the sections 1315 and 1316 corresponding to the robot arms 5 and 6 so that an operation command corresponding to the immediately preceding operation can be designated. The field 1324 is used to specify an operation command (for example, referred to by the name of the field 1321) immediately before the operation command. By providing the field 1324, the sections 1315 and 1316 corresponding to the robot arms 5 and 6 have a structure like a linked list in which the relations before and after each operation command are related. As shown in FIG. 14, in the user interface, by arranging an input unit that can relate the order of operation commands such as the field 1324, the operator can perform an operation for exchanging before and after the input operation commands. Can be done.

  Actually, when an operation command is input as shown in FIG. 14, the CPU 20 stores the operation command data corresponding to the input operation command in the main memory or virtual memory managed by the CPU 20 as an operation command list. Accordingly, FIG. 14 may be considered as a screen display of the user interface, but may be considered as a memory map corresponding to the configuration of the operation command list in the main memory or virtual memory of the arithmetic processing unit 1. In that case, the operation command data is stored in the operation command list in the main memory or virtual memory in a storage format such as a linked list, and the context of each operation command is related by the pointer data similar to the field 1324 described above. It is attached.

  Buttons 1317 and 1317 operated by the mouse 12 and the like are arranged below the sections 1315 and 1316 in order to confirm the trajectory definition of each arm (A and B) input at the upper part.

  In step S100 of FIG. 3, the operator inputs a desired operation command to each of the robot arms 5, 6 (A, B) using, for example, the user interface as described above. In response to this, the CPU 20 generates a data structure of the operation command list corresponding to the input of the operation command in the main memory or the virtual memory.

  In step S101 of FIG. 3, priority setting for determining the order of motion trajectory generation is performed. As this priority, for example, the priority of each robot arm, which one of the robot arms 5 and 6 (A, B) is given priority, can be considered. Moreover, the priority of generating in order from which trajectory definition data of the operation commands Ma1, Ma2, Ma3..., Mb1, Mb2. In this way, by making several priority settings (different units) possible, it is possible to obtain a suitable control result according to the characteristics of the operation that the robot arms 5 and 6 (A, B) want to execute. Becomes higher. A control example related to the priority in units of the robot arm or operation command will be described later with reference to FIG.

  In step S102 of FIG. 3, the robot arms 5 (A) to 6 (B) are based on the start point and end point data as one trajectory definition data in the motion command list in the order according to the priority determined in step S101. ) Is generated. In this case, as will be described later, the CPU 20 calculates a trajectory from the start point to the end point so as to avoid the obstacle (the space) registered in the obstacle memory. For the calculation of the trajectory from the start point to the end point, a known trajectory generation algorithm such as RRT or RPM described above can be used.

  In step S103, when the robot arm 5 (A) or 6 (B) is operated on the trajectory generated in step S102, a space in which the robot arm's housing is swept (passed) is transferred to another robot arm. Is registered in the obstacle memory as an obstacle that cannot enter. Actually, steps S102 and S103 in FIG. 3 are processed step by step by a loop as shown in FIG. Thereby, a trajectory is generated based on all trajectory definition data (start point, end point data) in the operation command list.

  In the example of FIGS. 4 and 6, only the movement of each robot arm 5 (A) to 6 (B) in the illustrated plane is shown. However, when the robot arm is actually operated in a three-dimensional work area, a space in which the housing of the robot arm sweeps (passes) while changing its posture is a space having a specific shape and volume. Such a space in which the robot arm's housing is swept (passed) may be called a sweep volume (Sweep (Swept) Volume). Therefore, in the examples of FIGS. 6A to 6C, a space in which the housing is swept (passed) when the robot arm moves in a certain path is indicated by a reference symbol such as SVa.

  FIGS. 6A to 6C show the state of trajectory generation corresponding to the operation commands Ma and Mb of the robot arms 5 (A) and 6 (B). Here, the (start point, end point) of the trajectory corresponding to the motion command Ma is (Sa, Ga), and the (start point, end point) of the trajectory corresponding to the motion command Mb is (Sb, Gb), as shown in FIG. Is arranged. Trajectories generated by the trajectory calculation of the CPU 20 based on the operation commands Ma and Mb are indicated by Tra and Trb.

  In the example of FIG. 6, it is assumed that the trajectory of the robot arm 5 (A) is generated first according to the set priority. Here, the trajectory Tra of the robot arm 5 (A) is generated in a shape as illustrated in order to avoid the obstacle 7 that is already registered in the obstacle memory. The sweep area in which the housing of the robot arm 5 (A) is swept by the robot movement of the generated trajectory is SVa. The space of SVa is a space having a shape and (volume) corresponding to the shape and posture of the robot arm 5 (A), the trajectory Tra, and the like.

  In this embodiment, when a trajectory of one robot arm is generated, the sweep space SV is registered in an obstacle memory (similar to the obstacle 7). FIGS. 15A to 15C show how obstacles (SVx) are registered in the obstacle memory 2201 in accordance with the trajectory generation of FIGS. 6A to 6C.

  The obstacle memory 2201 shown in FIGS. 15A to 15C is secured on the main memory managed by the CPU 20 such as the RAM 22, and generally includes two fields 2203 and 2204. In FIG. 15, the reference numeral “22” corresponding to the RAM 22 is used for the entire storage area as the storage destination of the obstacle memory 2201. However, this is merely for convenience, and the obstacle memory 2201 is secured on the main memory or virtual memory (for example, the RAM 22 or further the HDD 23) managed by the CPU 20 as in the case of the previous operation command list. It's okay. This also applies to FIGS. 16 and 17 described later.

  The field 2203 of the obstacle memory 2201 stores obstacle identification data (name, identification number, etc.). The field 2204 stores shape data (substance data or pointer data to a storage space (not shown) separately secured) that defines the three-dimensional space of the obstacle.

  The format of the shape data in the field 2204 is arbitrary. For example, a work space is considered as a set of unit voxels. In this case, the obstacle shape data stored in the obstacle memory 2201 may be, for example, a pointer list to the coordinate data of the voxel (Voxel) occupied by the obstacle in a simple example. As a data format that can be easily used for reference, a three-dimensional voxel data table (not shown) may be secured in the main memory or virtual memory in the voxel space corresponding to the work space. Then, an obstacle flag (or identification data of the robot that generated the obstacle by the body sweep) is arranged in the memory cell corresponding to the voxel occupied by the obstacle in the voxel data table. By using the voxel data table in combination, it is possible to realize an obstacle memory that can easily refer to whether a specific coordinate in the work space is included in the area of the obstacle.

  6 and 15, first, a trajectory Tra of the robot arm 5 (A) is generated as shown in FIG. 6 (b) so as to avoid the obstacle 7. Prior to this processing, the shape data of the obstacle 7 has already been registered in the fields 2203 and 2204 as shown in FIG.

  When the trajectory Tra of the robot arm 5 (A) is generated as shown in FIG. 6 (b), the data of the sweep space (SVa) is additionally registered in the obstacle memory 2201 as shown in FIG. 15 (b). . In this case, it is assumed that the identification of the robot that generated the obstacle by the corresponding body sweeping can be identified by referring to the identification data in the field 2203 (name such as SVa in the example in the figure).

  Subsequently, for the robot arm 6 (B), a trajectory (Trb in FIG. 6C) is generated from the start point and end point data of (Sb, Gb). At this time, referring to the contents of the obstacle memory 2201, an obstacle corresponding to the sweep space (SVa) of the robot arm 5 (A) is already registered in the obstacle memory 2201 (FIG. 15B). Therefore, as shown in FIG. 6C, the CPU 20 determines the robot arm 6 (B) from the start point and end point data (Sb, Gb) so as to avoid the sweep space (SVa) of the robot arm 5 (A). A trajectory Trb is generated.

  As a result of the generation of the trajectory Trb of the robot arm 6 (B), the space (SVb) swept by the housing of the robot arm 6 (B) is additionally registered in the obstacle memory 2201 as described above. FIG. 15C shows the state of the obstacle memory 2201 immediately after the sweep space (SVb) of the robot arm 6 (B) corresponding to the trajectory Trb is additionally registered.

  As described above, with the trajectory generation and obstacle memory management schematically described with reference to FIGS. 3 to 6, 14, and 15, the robot arms 5 and 6 do not interfere with each other, and the work environment A trajectory that does not interfere with the obstacle 7 inside can be generated.

  In this embodiment, the time axis and the control timing are not used as the obstacle avoidance strategy. In this embodiment, the space that the robot arm housing sweeps in a specific trajectory is registered in the obstacle memory 2201 as an obstacle space that the robot arm may occupy. For this reason, even when a timing shift such as a delay in the robot operation occurs in the actual machine environment, it is possible to generate a trajectory in which the robot arms or the robot arm does not interfere with other obstacles. That is, according to the present embodiment, it is possible to generate a robot trajectory that is more fail-safe.

  Here, FIG. 5 shows a more detailed control example of the robot trajectory generation and the obstacle additional registration processing shown in steps S102 and S103 of FIG.

  FIG. 5 shows an example of a control procedure of this embodiment for generating a trajectory in which the passing areas of the robot do not intersect each other. As described with reference to FIG. 3, the flow of the entire control procedure starts with input of an operation command, generation of an operation command list (S101), and priority setting (S102). Thereafter, trajectory generation (S103) and obstacle addition (S104) are performed. FIG. 5 shows an example of a more detailed configuration of this control procedure.

  FIG. 5 includes the following control process. That is, an operation command list including start points and end points of trajectories of a plurality of robot arms is generated (trajectory definition data generation process: S200). The order in which each trajectory is generated is determined based on the operation command list (generation order determination step: S210). For a specific robot arm in the operation command list, a trajectory is generated based on the start point and the end point so as to avoid the obstacle space registered for the trajectory generation of other robot arms in the obstacle memory (trajectory generation process: S230). ). When the robot arm is operated in the generation trajectory, the sweep space swept by the casing of the arm is added to the obstacle memory as an obstacle space to be avoided by another robot arm (obstacle registration process: S240, S250).

  5, the input of the operation command and the generation of the operation command list (S101) in FIG. 3 correspond to step S200, and the priority setting (S102) corresponds to step S210. Step S220 corresponds to the loop initialization process of steps S230 to S250. Further, the trajectory generation (S103) in FIG. 3 corresponds to step S230, and the obstacle addition (S104) corresponds to step S250. Step S260 is a control step for causing each process of steps S230 to S250 to be executed for the trajectory definition data (start point, end point) included in the operation command list.

  In step S200 of FIG. 5, an operator (teacher) inputs an operation command for generating a trajectory for all the robot arms via the user interface described with reference to FIG. Here, for example, it is assumed that one operation command Ma1 for the robot arm 5 is given by the trajectory definition data of the start point and the end point (Sa, Ga). Further, for the robot arm 6, it is assumed that one operation command Mb1 is given as the trajectory definition data operation command Op1 of the start point and end point (Sb, Gb).

  This operation command refers to a set of a plurality of operations specified for each robot arm, and the operation command data is stored in the main memory or virtual memory managed by the CPU 20 as the operation command list as described above. The

  Further, the motion (M) is defined by trajectory definition data including a combination of the coordinates of the start point and end point of the reference portion corresponding to the base of the end effector (54, 64) of the robot arm (5, 6).

  When there are a plurality of postures of the robot arm (5, 6) with respect to the position of the end effector (54, 64) as in the articulated robot, a combination of angles of the joints is designated as a start point and an end point.

The operation command Op1 given as described above is
Op1 = {Ma1, Mb1}
Each operation (Ma1, Mb1) consists of Ma1 = (Sa, Ga), Mb1 = (Sb, Gb)
Consists of.

  Next, in step S210 in FIG. 5, the trajectory generation order is determined, that is, in which order the trajectory generation of the motion is to be performed is determined from the motion command list. Since the order determination method affects the operation time of the entire robot, various methods are conceivable.

  An example of priority control will be described later in detail. Here, it is assumed that the robot arm 5 (A) has a higher priority of operation than the robot arm 6 (B). . In fact, it is not rare that there is a difference in the importance of the actions to be executed by each robot arm, so that the priority setting for each robot arm can be performed by the user (operator). Thus, more realistic trajectory generation becomes possible.

  If the robot arm 5 (A) is set to have a higher priority of motion than the robot arm 6 (B), the robot arm 5 generates the trajectory first, and the robot arm 6 The operation command Mb1 is controlled to generate a trajectory later. In addition, since trajectory generation and obstacle registration according to the present embodiment do not perform control related to the time axis, the operation (M) in the operation command list is shuffled with a specific priority regardless of the input order, for example. Orbit generation (and obstacle registration) may be performed. The processing in step S210 is realized by processing such as securing a table memory storing the generation order and storing pointer data indicating the operation (M) in the operation data command list in the above priority order.

  In the loop control of FIG. 5, the trajectory generation (obstacle registration) order is controlled by a pointer (or counter) i. Here, i = 0 corresponds to the priority of the highest priority process, and i is incremented and referred to as 0, 1, 2,... Therefore, in step S220 in FIG. 5, the order is initialized to i = 0 for the pointer (or counter) i.

  Thereafter, the trajectory generation of the motion command Mi (S230: robot trajectory generation processing), the generation (S240) of the passage (sweep) region of the robot arm corresponding to the motion command Mi, and the additional registration of the passage (sweep) region (S250: obstacle) Repeat the registration process. This control loop is continued until it is confirmed in step S260 that all operation commands are processed. While all the operation commands are not processed, the control loops from step S260 to S230 while incrementing the pointer (or counter) i (i = i + 1).

  In step S230, a trajectory is generated for one operation of the robot. This step S230 can be executed in three steps, such as a route planning process, a route shortening process, and a trajectory calculation process.

  Among these, in the route planning process, a route that avoids an obstacle from the start point to the end point is obtained. In order to obtain the route, a method in which the CPU 20 automatically calculates by a random search by various known methods such as RRT and PRM described above can be used.

  Next, in the route shortening process, the route generated by the route planning process can be corrected. When a method using a random search is selected in the route planning process, it is necessary to correct the route because the generated route has a detour or a sharp change in angle. In this route shortening process, there are many ways to shorten the route, such as searching for points that can be connected without interference between points in the route, and smoothing the route by approximating with a spline curve. Any method may be used.

  Further, in the route planning process and the route shortening process, processing is performed to check whether there is interference between the robot arms (5, 6) and the obstacle (7) in the 3D virtual space. Here, the shape data of the robot arm (5, 6) and the obstacle data (SV) held in the obstacle memory 2201 can be handled as a set of the above-mentioned voxels (or polygons), for example. Then, it is determined whether there is an interference state between the robot arms (5, 6) or the obstacle (7) by determining whether a set of voxels (polygons) is in geometric contact.

  The obstacle memory 2201 stores the passage (sweep) area of the arm accompanying the trajectory generation as obstacle data (SV), but generally (of course) the passage (sweep) of its own arm. It is not necessary to avoid the obstacle data (SV) generated by. For example, in the generation of the trajectory (path) of the operation (Ma) of the robot arm 5 (A) in the above configuration, the obstacle (SVb) generated by passing (sweep) by the operation (Mb) of the robot arm 5 (B). To avoid. However, in the generation of the trajectory (path) of the operation (Ma) of the robot arm 5 (A), the obstacle (SVa) generated by the passage (sweep) by the operation (Ma) of the robot arm 5 (A) is avoided. There is no need.

  In the trajectory calculation process of step S240, the rotational speed and acceleration of each joint of the robot arm (5, 6) so that the path (trajectory) generated by the above path planning / path shortening process can be operated in the shortest time. And so on. However, in this trajectory calculation process, the rotational speed and acceleration of each joint are calculated within a range that does not exceed the constraint conditions held in the storage unit 3. However, the trajectory calculation of this embodiment uses the most fail-safe obstacle avoidance condition, so there is no need to consider synchronization between robot arms, and a trajectory that can be operated in the shortest time by a single robot can be calculated. It ’s fine.

  The trajectory data group (robot arm control data) generated by this trajectory calculation process is stored in main memory or virtual storage, or in a trajectory data storage area (not shown) secured in the HDD 23 or the like.

  In step S240, a region (space) through which the robot arm housing (link or joint axis) passes (sweep) when operated in the trajectory obtained in step is calculated. Geometry data such as the shape and dimensions of each robot arm (5, 6) is prepared in advance in the HDD 23, ROM 21, etc., and based on this geometry, the CPU 20 calculates the above passing (sweep) area (space). can do. In the actual calculation, a known method for generating a sweep volume for obtaining a region through which various moving objects have passed, a method for approximating the passage region to a simple shape such as a cube or a sphere, and the like can be used. Further, the shape data may be expressed as a set of polygons and used for interference confirmation processing. The geometry data such as the shape and dimensions of the robot arms (5, 6) can also be used to control the virtual display on the display 13.

  In the example of FIG. 6B, when the trajectory Tra is generated for the robot arm 5, the housing passes from the start point Sa to the end point Ga by the calculation of the passing (sweep) region by the CPU 20 described above. A passing (sweep) region (SVa) in the figure is generated.

  In step S250, the passage (sweep) region (SV) generated based on the trajectory generation in step S230 is registered in the obstacle memory 2201. The obstacle registered in the obstacle memory 2201 is added as a new obstacle in the virtual space, and in the subsequent generation of the trajectory of the robot arm (6), all obstacle data in the obstacle memory 2201 is avoided. Orbital calculation is performed.

  In the example of FIG. 6, after the generation of the trajectory of the motion command Ma1 of the robot arm 5 and the addition of the obstacle in the passage region are completed, the trajectory of the motion command Mb1 of the robot arm 6 (and the addition of the obstacle in the passage region) is performed. . The flow of processing is the same as described above, but when the trajectory of the operation command Mb1 of the robot arm 6 is generated, a passage area SVa is added as a new obstacle (FIG. 15B). Therefore, the trajectory generation of the motion command Mb1 is executed so as to avoid not only the obstacle 7 arranged in advance as shown in FIG. 6C but also the passing area SVa of the trajectory Tra of the motion command Ma1. The

  Thus, with respect to the robot arm 6, it is possible to obtain a trajectory Trb that does not intersect the trajectory Tra of the robot arm 5. In the above description, the simplest example of generating a trajectory with the robot arm 5> 6 has been shown. However, a passing (sweep) area corresponding to the trajectory Trb of the robot arm 6 is also stored in the obstacle memory 2201 as a new obstacle. to add. Thereby, the trajectory generation can be continued based on the subsequent operation command (which does not cause an interference state).

  In the above, the example of the two simplest robot arms has been described. However, for the generation of the trajectories of three or more robot arms, the trajectory generation and the accompanying obstacle registration can be performed by the same procedure as described above. it can.

  As described above, according to the present embodiment, it is possible to generate a trajectory that does not intersect each other between the robot arms (5, 6) as well as the obstacle (7) in the work environment. For this reason, a plurality of robot arms can be operated in a trajectory that does not cause interference. The avoidance control based on the generation of the obstacle and the registration in the obstacle memory according to the present embodiment does not depend on the time axis or the control timing. That is, the sweep (passage) space (area) of the robot arm is registered in the obstacle memory as the maximum range of positions and orientations that the arm can take on the time axis. For this reason, according to the present embodiment, it is possible to reliably generate a trajectory that can avoid interference between the robot arms (5, 6) even if a timing shift such as a delay in arm control occurs in an actual environment. In addition, the basic trajectory generation (+ obstacle registration) control shown in the present embodiment does not use the exclusive space control in the time axis direction, which is performed in the conventional method or the like. Can be easily executed without the need for complex computing resources.

  In the present embodiment (the same applies to the following embodiments), a configuration in which one obstacle memory exists on the main memory or virtual memory is shown for ease of explanation. In that case, the obstacle data includes identification data of the robot arm (5, 6,...), And in the generation of the trajectory of a certain arm, it corresponds to the sweep area of another arm other than the obstacle corresponding to the sweep area of the arm itself. To avoid obstacles. However, various forms of implementing one obstacle memory on the main memory or virtual memory are conceivable, and those skilled in the art make various design changes regarding the implementation of the obstacle memory and a part of control using the obstacle memory. be able to.

  For example, an obstacle memory is arranged for each robot arm (5, 6,...), And an obstacle corresponding to the sweep region of the arm is added to the obstacle memory other than the arm when the trajectory is generated. Control is also conceivable. Even with such an obstacle memory implementation, it is possible to realize a trajectory generation process for generating a trajectory for operating the robot arm so as to avoid an obstacle space excluding the obstacle space registered for the robot arm.

<Example 2>
In the first embodiment, the method of generating a trajectory without interference between the robot arms (5, 6) is described as the simplest example in which the trajectory is generated from the two motion commands of the robot arms 5, 6. When the trajectory generation and the obstacle registration are repeated for a larger number of trajectory definition data only by the step configuration as shown in FIG. 5 of the first embodiment, there is a possibility that a new trajectory cannot be generated by the many registered obstacles. There is.

  In the basic control of this embodiment, in order to register the entire area where the arm housing sweeps (passes) by the generated trajectory as an obstacle, the more operation commands to be generated, the earlier the more part of the work space is. There is a possibility of being filled with obstacles.

  Usually, more work is assigned to a robot operating in a real environment such as a production line. For example, even when a simple transport operation is performed, there are two operations: an operation for picking up a transported product and an operation for putting it away. That is, it is assumed that a command input by the worker includes a plurality of operations for each robot. In the basic control shown in the first embodiment, in order to generate a trajectory in which the passing areas of a plurality of robots do not intersect each other, the passing area of all the actions performed by the robot is the entire action of the other robot. It is controlled so as not to cross the passing area. However, creating such a trajectory becomes more difficult as the number of motions assigned to the robot increases and the working space becomes smaller.

  For example, FIG. 8C shows a state in which the trajectory Trb1 (start point Sb1 to end point Gb1) of the robot arm 6 is generated and the obstacle (SVb1) corresponding to the corresponding sweep (passing) area is registered in the obstacle memory 2201. Is shown. On the other hand, it is assumed that an operation command with (Sa2, Ga2) (Sa2, Ga2) to be generated for the robot arm 5 thereafter exists in the operation command list. The trajectory definition of this operation command, particularly the end point (Ga2), already exists in the space of the obstacle (SVb1) as shown in FIG. In this state, it is impossible to generate a robot trajectory corresponding to the trajectory definition whose (start point, end point) in the operation command is (Sa2, Ga2).

  Hereinafter, in the present embodiment, a control method capable of continuing trajectory generation and obstacle registration when an event as shown in FIG. 8D occurs when generating a trajectory in response to a larger number of operation commands will be described. . In such a case, a control method is shown in which the generated robot trajectory can operate the robot arms in the actual environment without interfering with each other.

  In the second embodiment, when it is not possible to generate trajectories that do not intersect each other with respect to a given command, the commands are divided into two, and trajectories that do not intersect with each other in the divided commands. Generate.

  That is, when generating a trajectory based on a plurality of trajectory definition data in the operation command list, a trajectory that avoids the obstacle space registered in the obstacle memory may not be generated. In that case, the trajectory definition data in the motion command list includes the first motion command including the trajectory definition data corresponding to the trajectory already generated at that time and the second trajectory defining data corresponding to the trajectory not generated. It is divided into operation commands. Then, after clearing the obstacle space data registered in the obstacle memory, the trajectory generation process and the obstacle registration process are repeatedly executed for the trajectory definition data included in the second operation command. Also, based on all the generated trajectory data, when each robot arm is operated, the operation of the robot arm corresponding to the first operation command and the operation of the robot arm corresponding to the second operation command are synchronized. Generate a synchronization command to execute automatically.

  Hereinafter, the control of this embodiment will be described with reference to FIGS. 7 to 10 and FIGS. In the following, it is assumed that the entire configuration of the trajectory generation system shown in FIG. 1, FIG. 2, FIG. The arrangement of the robot arms 5 and 6 and the obstacle 7 is the same as in FIG.

  FIG. 7 shows the flow of the trajectory generation and obstacle registration procedure of the present embodiment in the same detailed format as FIG. 5 of the first embodiment. FIGS. 8A to 8D and FIGS. 9A to 9D show the state of trajectory generation in the same detailed format as in FIGS. FIG. 10 shows a state of synchronous control of the operation corresponding to each operation command generated in the trajectory in the present embodiment. FIGS. 16A to 16F show transition of data contents of the obstacle memory 2201 of the present embodiment in the same format as FIG. In the following description, redundant description of members and processing steps described in the first embodiment is omitted unless particularly necessary.

  In this embodiment, the entire flow of the trajectory generation and obstacle registration procedure is the same as that in FIG. 3 of the first embodiment, and the flow of the entire control procedure is the input of the operation command, the generation of the operation command list (S101), and the priority. It starts from setting (S102). Thereafter, trajectory generation (S103) and obstacle addition (S104) are performed.

  Steps S300 (input of operation command and generation of operation command list), S310 (priority setting), S320 (initialization of pointer / counter), and S330 (generation of trajectory of operation command Mi) in FIG. 7 are performed in S200 of FIG. , S210, S220, and S230. S350 (generation of the robot arm passage (sweep) region corresponding to the operation command Mi) and S360 (additional registration of the passage (sweep) region) in FIG. 7 are the same processes as steps S240 and S250 in FIG. Also, S370 (loop end determination) in FIG. 7 is the same process as step S260 in FIG.

  7 is significantly different from FIG. 5 in that steps S340 to S380 are performed between S330 (generation of the trajectory of the motion command Mi) and S350 (generation of the passage (sweep) region of the robot arm corresponding to the motion command Mi). This is an added point.

  In step S340, it is determined whether or not the trajectory corresponding to the operation command Mi has been generated in step S330. If the trajectory corresponding to the operation command cannot be generated by the obstacle sweep space registered in the obstacle memory 2201, the process proceeds to step S380.

  In step S380, the operation is divided into a first operation command composed of trajectory definition data corresponding to a generated trajectory and a second operation command composed of trajectory definition data corresponding to an ungenerated trajectory. Then, after clearing the obstacle space data registered in the obstacle memory, the process returns to step S300. In this case, in steps S300 and S310, the priority of the processing of each operation command (which constitutes the second operation command portion) consisting of the track definition data corresponding to the ungenerated track in the operation command list is determined thereafter. Control to do.

  In the following, the process of FIG. 7 will be described using an operation command as shown in FIGS. 8 to 10 as an example.

  In step S300 of FIG. 7, an operation command is input and an operation command list is generated in the same manner as in step S100 (FIG. 3) and step S200 (FIG. 5). Here, the operation command list generated based on the operator's input includes three operation commands Ma1, Ma2, and Ma3 for the robot arm 5 and two operation commands Mb1 and Mb2 for the robot arm 6. It shall be.

  FIG. 8A shows a trajectory definition (start point, end point) corresponding to the operation command. In the figure, operation commands Ma1, Ma2, Ma3 are respectively defined as trajectories of the start points Sa1, Sa2, Sa3, end points Ga1, Ga2, Ga3, and operation commands Mb1, Mb2 are start points Sb1, Sb2, end points Gb1, Gb2. Corresponds to the orbital definition.

  That is, in this trajectory definition, the motion command Ma1 is from the start point Sa1 to the end point Ga1 (Sa2) in FIG. 8A, Ma2 is from the start point Sa2 to the end point Ga2 (Sa3), and Ma3 is from the start point Sa3 to the end point Ga3. The reference part is moved. The robot arm 5 starts from the position Sa1 and goes to the position Ga3 via the positions Ga1 and Ga2.

Further, the operation command Mb1 for the robot arm 6 is an operation command for moving the reference portion of the arm from the start point Sb1 to the end point Gb1 in FIG. 8A and Mb2 from the start point Sb2 to the end point Gb2. In this case, the robot arm 6 starts from the position Sb1 and moves toward the position Gb2 via the position Gb1. The operation command list corresponding to this command Op1 has the following configuration.
Op1 = {Ma1, Ma2, Ma3, Mb1, Mb2}
Ma1 = (Sa1, Ga1), Mb1 = (Sb1, Gb1)
Ma2 = (Sa2, Ga2), Mb2 = (Sb2, Gb2)
Ma3 = (Sa3, Ga3)
In step S310 of FIG. 7, the order of trajectory generation is determined based on the set priority order. As described above, various methods are conceivable for the control of the priority order of the trajectory generation (robot unit or operation command unit). For example, it is possible to allow the operator to specify the priority order.

  However, in this embodiment, the order of priority for trajectory generation (robot unit or operation command unit) is set by automatic control of the CPU 20. Here, the trajectory generation of the robot arm including a larger number of the trajectory definition data in the motion command list is executed prior to the trajectory generation of the robot arm including a smaller number of the trajectory definition data in the motion command list. Set the priority so that. In this case, in the configuration of the operation command list described above, the robot with a large number of operations and a high priority is the robot arm 5.

  Regarding the priority order of the operation command units, for example, it is conceivable to rearrange the processing order of each operation command in an arbitrary order in accordance with the operator's input designation. However, in this embodiment, in order to facilitate the description, the order of the operation command list (Ma1, Ma2,..., Mb1, Mb2,...) Is used.

  However, in this embodiment, a processing sequence for generating a trajectory for each arm in sequence (+ obstacle registration) so that an arm having a large number of motion commands that have not been generated is not generated among a plurality of robot arms. Control also applies. This is to avoid the problem that only one robot concentrates to generate a trajectory and other robots cannot generate a trajectory due to the passing region.

  Note that an example of the control of the processing order of the trajectory generation (+ obstacle registration) of the present embodiment as described above will be described at the end of the present embodiment with reference to the flowchart of FIG.

  According to the control of the processing order of the trajectory generation (+ obstacle registration) of the present embodiment as described above, the order of generating the trajectory for each operation command is the order of Ma1, Mb1, Ma2, Mb2, Ma3. .

  Following step S320 (pointer / counter initialization) in FIG. 7, in step 330, a trajectory is generated in the order determined in step S310. The trajectory generation in step 330 is the same as the processing described in step S230 of FIG.

  In step 340 of FIG. 7, it is determined whether or not the trajectory generation is successful in step S330. If the trajectory generation is successful, the process proceeds to step S350. If the trajectory generation cannot be generated, the process proceeds to step S380. Here, as a case where the trajectory cannot be generated, for example, the path to the end point is blocked by the passing area of another robot arm, or the starting point or the end point is included in the passing area of the other robot arm. There may be.

  In the example of FIG. 8, first, the operation command Ma1 of the robot arm 5 is processed. In this case, since the trajectory Tra1 that goes from the start point Sa1 to the end point Ga1 and avoids the obstacle 7 can be generated, the processing step is S350.

  In steps S350 and S360, obstacle data is generated from the passing (sweep) region (SVa1) by the trajectory and registered in the obstacle memory 2201. As a result, the state of the obstacle memory 2201 changes from the state in which only the obstacle 7 in FIG. 16A exists to the registration state in FIG. 16B. That is, the passage (sweep) region (SVa1) of the robot arm 5 is newly added as an obstacle by the trajectory Tra1 of the operation command Ma1.

  As shown in FIG. 8C, trajectory generation and obstacle addition can be performed for the next operation command Mb1 in the same procedure as described above. The motion command Mb1 can also generate a trajectory in steps S330 and S340, and a passing (sweep) region (SVb1) corresponding to the trajectory Trb1 is newly added to the obstacle memory 2201 as shown in FIG.

  The processing further proceeds, and a trajectory generation of the operation command Ma2 is attempted for the robot arm 5 in step S330. This operation command Ma2 includes a trajectory definition from the start point Sa2 to the end point Ga2, as shown in FIG. However, as shown in FIG. 8D, the position of the end point Ga2 of the operation command Ma2 is inside the obstacle (SVb1) added in the above procedure and causes interference with the obstacle. Cannot be performed. In this case, the process proceeds to step S380 in FIG.

  In step S380, the CPU 20 performs processing when a trajectory cannot be generated. In this step S380, first, the motion command (group) is first processed with the first motion command (group: first half) already subjected to trajectory generation (+ obstacle registration) and the trajectory generation (+ obstacle registration) unprocessed. Are divided into second operation commands (group: second half).

  That is, all the motion commands that have been able to generate a trajectory up to the present are designated as one first motion command (group: first half), and all motions after the trajectory generation (+ obstacle registration) is unprocessed are the second motion commands. Divide into commands (group: second half). In the example of the second embodiment, the operation commands Ma1 and Mb1 are divided into first (first half: Op1-1) operation commands, and the operation commands Ma2, Mb2, and Ma3 are divided as second (second half: Op1-2) operation commands. .

  Note that the division of the first and second motion commands is not limited to once, but when the trajectory generation becomes impossible in the second (remaining) second motion command processing, the second motion command is further divided. Is divided into a first operation command (processed) and a second operation command (unprocessed). By repeating this, all the operation command data is processed.

  When the division into the first and second operation commands occurs, the robot arms (5, 6) corresponding to the first and second operation commands are executed synchronously before and after the division. That is, the synchronization control is performed so that the operation corresponding to the second operation command is started after all the operations corresponding to the first operation command are completed. In order to perform such synchronization control, when the operation command is divided, the CPU 20 generates a synchronization command (Sp1 in FIG. 10) for synchronizing the robot operation in the actual environment as described above. This synchronization command (Sp1 in FIG. 10) is inserted, for example, at a position where the generated orbit data group is divided.

  Then, as shown in FIG. 16 (d), the CPU 20 clears the obstacle data corresponding to the sweep (passing) area of the robot arm generated along with the generation of the trajectory from the obstacle memory 2201. In this case, the obstacles SVa1 and SVb1 added in the trajectory generation of the operation commands Ma1 and Mb1 are deleted. This makes it possible to generate a trajectory for the operation within the next command.

  Thereafter, the process returns to step S300, the same processing is repeated, and trajectory generation (+ obstacle registration) is executed for the remaining unprocessed second operation command (group: second half). In addition, as a measure for processing from the trajectory definition corresponding to the second operation command (second half: Op1-2), the CPU 20 performs processing to delete the processed portion of the operation command list in step S380. It is good.

The first operation command (first half: Op1-1) and the second operation command (second half: Op1-2) obtained by dividing the operation command Op1 as described above are as follows.
Op1-1 = {Ma1, Mb1},
Op1-2 = {Ma2, Mb2, Ma3}
The configuration is as follows. In addition, when performing the operation command division as described above, the CPU 20 performs a synchronization command (in order to synchronously control each operation of the divided first (first half) and second (second half) operation commands in an actual environment. Sp1) of FIG. 10 is generated. This synchronization command (Sp1 in FIG. 10) is inserted, for example, at a position where the division of the generated trajectory data group has occurred.

  In the subsequent processing, in step S300, the process target is a trajectory definition corresponding to the second operation command (second half: Op1-2) by passing through step S380. That is, the operation command Op1-2 including the operation commands Ma2, Mb2, and Ma3 is input.

  FIG. 9A shows the current position of the robot arm and the start points (Sa2, Sb2, Sa3) and end points of the operation commands Ma2, Mb2, and Ma3 at the beginning of the processing of the second operation command (second half: Op1-2). The positions of (Ga2, Gb2, Ga3) are shown.

  In the subsequent step 310 of FIG. 7, the order of trajectory generation is determined in the same manner as described above. Similarly to the above, for example, the priority of the robot arm is set from the number of operations, and the processing order is determined from the priority. Even in the processing of the second operation command (second half: Op1-2), the robot arm 5 has a higher priority because it has a larger number of operations. Accordingly, the order of the trajectory generation processing is the order of the operation commands Ma2, Mb2, and Ma3.

  Thereafter, the CPU 20 executes the trajectory generation process and the obstacle registration process in steps 330 to 360 in FIG. 7 in the same manner as described above with respect to the second operation command (second half: Op1-2). The first operation command Ma2 is an operation from the start point Sa2 to the end point Ga2, and as shown in FIG. 9B, the trajectory is generated so as to avoid the point Sb2 which is the current position of the robot arm 6. Tra2 is generated. Further, as shown in FIG. 16E, the passage (sweep) region (SVa2) of the robot arm 6 in the trajectory Tra2 is added to the obstacle memory 2201 as an obstacle.

  Subsequent operation commands Mb2, Ma3... Are further processed by steps 330 to 360 in FIG. For the start point Sb2 and the end point Gb2 of the operation command Mb2, a trajectory Trb2 is generated so as to avoid the added obstacle SVa2 (FIG. 9C). Also, an obstacle (SVb2) corresponding to the trajectory passing (sweep) region is generated and added to the obstacle memory 2201 (FIG. 16 (f)). Finally, a trajectory Tra3 that avoids the obstacle SVb2 is generated from the start point Sa3 and the end point Ga3 of the operation command Ma3 (FIG. 9 (d)), and the obstacle (SVa3) corresponding to the passage (sweep) region of the trajectory Is generated.

  As described above, the generation of all the trajectories corresponding to all the operation commands in the operation command list first input by the operator is completed. According to the trajectory generation method of the present embodiment, when trajectory generation becomes impossible due to an obstacle corresponding to the passage (sweep) region of the arm, the first motion command including the processed motion command and unprocessed The operation command list is divided into second operation commands including the operation commands. At that time, since the obstacle data in the obstacle memory is cleared and the remaining second operation command is processed, the trajectory generation (+ obstacle registration) can be continued.

  On the other hand, according to the trajectory generation as described above, since there is a possibility that the robot arms interfere with each other between the divided operation commands Op1-1 and Op1-2 in the operation in the real environment, synchronous execution control is performed. There is a need. For example, after all the operations in the first operation command Op1-1 are completed, the control for executing the operations in the second operation command Op1-2 is performed. Therefore, when the operation command is divided as described above, the CPU 20 inserts the synchronization command (Sp1 in FIG. 10) at a position where the synchronization control is necessary in the trajectory data.

  FIG. 10 shows a case where robot arms 5 and 6 synchronously execute robot operations corresponding to the (first) operation command Op1-1 and the (second) Op1-2 divided as described above. Timing is shown. This example corresponds to the (first) operation command Op1-1 and the (second) operation command Op1-2 described with reference to FIGS. When the division of the (first) operation command Op1-1 and the (second) operation command Op1-2 is performed in this way, the CPU 20 inserts the synchronization command (Sp1) into the trajectory data. Thus, synchronous control is performed so that the operation corresponding to the (second) operation command Op1-2 is started after all the operations of the (first) operation command Op1-1 are completed. Can do.

  In FIG. 10, first, the two robot arms 5 and 6 start their respective operations simultaneously. In this case, one of the robot arms finishes the operation first, but if the synchronization command (Sp1) is inserted, the operation of the next command is not executed and the operation of the other robot arm is not performed. Wait for completion. In the example of FIG. 10, the robot arm 6 completes the operation (Mb1) first, but the synchronization control is performed so that the robot arm 6 waits for the waiting time 80 and waits for the robot arm 5 operation command Ma1 to be completed. ing. Then, after all the operations in the operation command Op1-1 are completed, the process proceeds to the next operation command Op1-2, and the respective operations (Ma2, Mb2, Ma3...) Are started to be executed simultaneously.

  In addition, when the operation command is divided (and the obstacle memory 2201 is cleared) between the operation command Op1-2 and the subsequent operation command (not shown), the synchronization command (as shown in FIG. Sp2) is inserted. Here, the robot arm 6 completes all operations first, but here, synchronous control is also performed in which the robot arm 5 is waited for the waiting time 90.

  As described above, in this embodiment, a trajectory in which a plurality of robot arms do not interfere with each other is guaranteed in the divided commands, and interference between commands causes the robot arms to operate synchronously based on the synchronization command. As a result, according to the method of this embodiment, even when a large number of motions are assigned to the robot arm, a synchronization command is generated and simple synchronization control in the real environment is performed, thereby causing interference between robots. No trajectory can be generated automatically.

  Here, the processing order of trajectory generation (+ obstacle registration) is described using the priority of the robot arm unit and the operation command unit described in FIG. 18 regarding step S310 in FIG. 7 (also in step S210 in FIG. 3). An example of the algorithm to control is shown.

Here, a pointer (counter) R indicating the priority of each robot arm is used. This R is incremented by 1 from the value 0 corresponding to the maximum priority to R _M corresponding to the maximum (total) number of the robot arm. On the other hand, in the robot arm ranking list secured in the main memory or virtual memory pointed to by the pointer (counter) R, the identification data of each robot arm is based on the user (worker) designation (or automatically determined by the CPU 20). Are stored in order from the highest priority. By referencing this robot arm ranking list from the top (0) based on the value of the pointer (counter) R, the CPU 20 generates a trajectory in the order of the arms defined in the robot arm ranking list (+ obstacle registration). Can be executed. Incidentally, the pointer (counter) R, in the example of FIG. 18 are used cyclically reaches the R _M whose value corresponds to the maximum (total) number of robot arm, its value is reset to 0.

  In the above description, the priority control for each operation command using the pointer (counter) i has not been described in detail, but the same configuration as described above can be used for the priority control for each operation command. . For example, priority is given to the identification data of each operation command based on the user (worker) designation (or automatically determined by the CPU 20) in the operation command order list secured in the main memory or virtual memory indicated by the pointer (counter) i. Store in descending order. By referring to this operation command order list based on the value of the pointer (counter) i (the highest priority is 0), the operation commands can be processed in the order of definition of the operation command order list.

  FIG. 18 is a flowchart showing the details of steps S320 to S370 in FIG. 7. Step S320 is the same pointer (counter) i initialization (i = 0) process as in FIG. The subsequent step S520 is the initialization (R = 0) processing of the pointer (counter) R described above.

  In step S530, the operation command to be processed this time is determined by a pointer (counter) calculation such as Mi = Mi (R). That is, this pointer (counter) operation is a process for specifying the operation command with the highest priority (unprocessed) at the present time regarding the robot arm pointed to by the pointer (counter) R.

  In step S540, trajectory generation and obstacle registration processing corresponding to the processing in steps S330 to S360 in FIG. 7 is performed. Although not shown in detail here, the operation command dividing process in steps S340 to S380 when the trajectory cannot be generated can be similarly executed.

  In step S550, the pointer (counter) R and the pointer (counter) i are incremented by 1 (R = R + 1, i = i + 1). As a result, pointers (counters) R and i are incremented so that the robot designation and the operation command indicate the next robot arm and the next operation command, respectively.

In step S560, the pointer (counter) or R is round, i.e., whether or not reached R _M corresponding to the maximum (total) number of the robot arm is determined. If step S560 is positive, the pointer (counter) R is reset to 0 to point to the first highest priority arm.

  Step S580 is the same processing as step S370 in FIG. 7, and here, it is determined whether or not all the operation commands in the operation command list have been processed by determining the value of the pointer (counter) i. Here, while all the operation commands are not processed, the process returns to step S530 and the above operation is repeated.

  By incrementing the pointer (counter) R by the priority processing as shown in FIG. 18, all the robot arms are designated one by one in the set priority order, and the operation command is prioritized by the pointer (counter) i. Can be taken out in order of degree. Therefore, with respect to priority order control in units of robot arms, all robot arm operation commands can be processed in the order of the set priority based on the priority order. For this reason, for example, there is a bias in the specification of the robot priority of the user (operator), and only the operation of a certain robot arm is processed first, and the trajectory generation does not proceed in the processing of the subsequent robot arm operation. It can be avoided.

<Example 3>
As a situation in which trajectory generation becomes impossible in the second embodiment, for example, as shown in FIG. 8D, the trajectory generation end point Ga2 (the same applies to the start point) is generated by trajectory generation of other robot arms. An example of interference with the obstacle (SVb1) from the beginning is shown. In the third embodiment, a processing technique that can avoid such a situation will be described. Also in the present embodiment, the basic configuration of the trajectory generation system shown in FIGS. 1 to 4, 14, and the like is assumed to be the same as that of the first and second embodiments described above. A duplicate description will be omitted.

  In the third embodiment, by registering the space occupied by the chassis of each arm as an obstacle in the posture when each robot arm is in the position of the start point and end point which are the trajectory definitions in the motion command, the above problem is solved. To avoid. Thereby, it is possible to avoid a state in which the start point or the end point of the operation command is included in the passing area of another robot arm from the beginning.

  Hereinafter, a method for generating a trajectory in which the passing regions of a plurality of robots do not intersect with each other in the third embodiment will be described with reference to FIGS. 11 to 13 and FIG. FIGS. 11A to 11F show the posture of each robot arm (5, 6) and the corresponding trajectory generation (+ obstacle registration) in the same format as in FIG. 8 of the second embodiment. FIG. 12 shows a state of synchronous robot control in an actual environment corresponding to FIG. 10 of the second embodiment, and FIG. 13 shows a trajectory generation (+ obstacle registration) in the present embodiment in the same format as FIG. The control procedure is shown. FIGS. 17A to 17F show transition of data contents of the obstacle memory 2201 of the present embodiment in the same format as FIGS. 15 and 16.

  Hereinafter, the configuration of the third embodiment and the operation commands in the operation command list to be processed are the same as those of the second embodiment. For this reason, the following description will be made with an emphasis on differences from the second embodiment.

In the present embodiment, the operation command list generated according to the operator's input is the same as in the second embodiment.
Op1 = {Ma1, Ma2, Ma3, Mb1, Mb2}
Ma1 = (Sa1, Ga1), Mb1 = (Sb1, Gb1)
Ma2 = (Sa2, Ga2), Mb2 = (Sb2, Gb2)
Ma3 = (Sa3, Ga3)
It is comprised by the operation command like this. The position of each start point and end point is as shown in FIG.

  FIG. 13 shows a flow of trajectory generation (+ obstacle registration) processing in the present embodiment. Here, the same step numbers as in FIG. 7 are used for the same processing steps as those in FIG. FIG. 13 differs from FIG. 7 in that step S410 is inserted between steps S300 and S310. The processing of other steps is the same as that described with reference to FIG.

  In step S410 in FIG. 13, before starting the generation of all trajectories, the space occupied by the chassis of each arm in the posture when each robot arm is at the position of the start point and end point in the operation command is used as an obstacle. Register in the memory 2201. FIG. 17A shows a state after step S410 is executed. That is, in FIG. 17A, the housing of each arm occupies the posture at the start point (Sa1, Sa2,..., Sb1, Sb2,...) And the end point (Ga1, Ga2,..., Gb1, Gb2. The area is registered in the obstacle memory 2201 as an obstacle.

  The subsequent processing flow is the same as that described in FIG. For example, the method for determining the priority order of the processing in step S310 is also performed in the same manner as in the second embodiment. Here, it is assumed that the processing order of the operation command Op1 is Ma1, Ma2, Ma3, Mb1, and Mb2.

  Next, following the initialization of step S320, the trajectory generation and obstacle addition processing is performed according to the set rank by the loop of steps S330 to S370 (and S380). At this time, according to the initial registration state of the obstacle as shown in FIG. 17A, in the trajectory generation (step S330) of the present embodiment, the positions of the start point and the end point of the arm other than the arm to be processed are avoided. A trajectory will be generated.

  For example, FIGS. 11A to 11F and FIGS. 17B to 17F show how the trajectory is generated and the obstacles are additionally registered. Here, when the trajectory of the operation command Ma1 is generated, the trajectory Tra1 is generated so as to avoid the obstacle 7 arranged in advance, and the sweep (passing) area is added to the obstacle memory 2201 as an obstacle (SVa1). (FIG. 11 (b), FIG. 17 (b)).

  Subsequently, when generating the trajectory of the operation command Ma2, the trajectory Tra2 is generated so as to avoid the position of the end point Gb1 (start point Sb2) of the robot arm 6 that has already been registered as an obstacle ((c) of FIG. 11). . Further, the sweep (passing) area of the robot arm 6 by the trajectory Tra2 is added to the obstacle memory 2201 as an obstacle (SVa2) (FIG. 17C). Thus, unlike the case of the control according to the second embodiment, it is possible to prevent the generation of the trajectory of the subsequent operation command Mb1.

  Similarly, the trajectory Tra3 of the operation command Ma3 is generated so as to avoid the position of the end point Gb1 (start point Sb2) of the robot arm 6, and its passing (sweep) region is added to the obstacle memory 2201 as an obstacle (SVa3). (FIG. 11 (d), FIG. 17 (d)).

  Further, at the time of generating the trajectory of the robot arm 6 that follows, the trajectory is generated so as to avoid the passing area added in the previous procedure, as in the second embodiment. This is because the start point and end point of another robot arm are included in the passing area. Accordingly, in the generation of the trajectory of the robot arm 6, first, the trajectory Trb1 of the operation command Mb1 is generated, and the passing (sweep) region is added to the obstacle memory 2201 as an obstacle (SVb1) (FIG. 11 (e), FIG. 17 (e)). For the operation command Mb2, a trajectory Trb2 ((f) in FIG. 11) is generated, and the corresponding passing area is added to the obstacle (SVb2) obstacle memory 2201 (FIG. 17 (f)).

  The trajectory generation of all the motions given as the motion command Op1 is thus completed. FIG. 12 is a time chart when the two robot arms 5 and 6 that have generated the trajectory as described above are operated. In the case of the operation command Op1, in this embodiment, since the space corresponding to the posture of the arm housing at the start point and the end point of the operation command is registered in advance as an obstacle before the start of the trajectory, steps S340 to S380 in FIG. No branching has occurred. Therefore, there is no need to perform the synchronous control as shown in FIG. 10, and as shown in FIG. 10, the robot arms 5 and 6 start their respective operations at the same time and are given regardless of the operations of the other robot arms. Even if the trajectory of the specified motion is executed, the arms do not interfere with each other.

  That is, according to the third embodiment, the space corresponding to the posture of the arm housing at the start point and the end point of the operation command is registered in advance (first) as an obstacle (as a so-called confirmed obstacle). Correct the trajectory to avoid it. For this reason, the probability of invoking each process of the division | segmentation of the operation command demonstrated in Example 2, the clearing of obstacle data, and the production | generation of the synchronous command for controlling arm operation synchronously in a real environment falls, The trajectory can be smoothly generated without interference. Even when the robot arm is operated based on the trajectory data generated in the actual environment, the probability that the synchronous control as described in the second embodiment is necessary is reduced, and the robot arm can be operated at high speed.

  The specific configuration in the embodiment described above is merely an example, and does not limit the scope of the claims. The technology described in the claims includes various modifications and alterations of the specific examples illustrated above, and those skilled in the art can make various design changes within the scope of the claims. Not too long.

  The present invention supplies a program that realizes one or more functions of the above-described embodiments to a system or apparatus via a network or a storage medium, and one or more processors in the computer of the system or apparatus read and execute the program This process can be realized. It can also be realized by a circuit (for example, ASIC) that realizes one or more functions.

  DESCRIPTION OF SYMBOLS 1 ... Arithmetic processing part, 11 ... Trajectory generation part, 2 ... Input part, 3 ... Memory | storage part, 5 ... Robot arm (A), 6 ... Robot arm (B), 11 ... Keyboard, 12 ... Mouse, 13 ... Display, 51, 52, 53, 61, 62, 63 ... articulated shaft, 54, 64 ... end effector, 55, 56, 57, 65, 66, 67 ... link, 7 ... obstacle, 80, 90 ... standby time.

In order to solve the above-described problem, in the present invention, there is provided a robot trajectory generation method in a control device that generates a trajectory of a robot arm , wherein the control device passes a housing of a first robot arm based on trajectory definition data. a space, a storage step of storing spatial data second robotic arm corresponds to the space to be avoided to pass to the memory, wherein the controller, while avoiding space corresponding to the space data, the first And a generation process for generating a trajectory in which two robot arms operate.

Claims (17)

In a robot trajectory generation method for generating a trajectory for operating a plurality of robot arms arranged close to each other by a control device, the control device obtains first space data as a space that the robot arm should avoid passing through. Storing process to store in memory;
A first generation step in which the control device generates a trajectory in which the first robot arm operates while avoiding a space corresponding to the first spatial data based on trajectory definition data including a start point and an end point;
Based on the trajectory generated in the first generation process, the second generation generates second spatial data as a space where the second robot arm should avoid passing through the space through which the first robot arm housing passes. The process,
A third generation step of generating a trajectory on which the second robot arm operates while avoiding a space corresponding to the first spatial data and the second spatial data based on trajectory definition data including a start point and an end point; A robot trajectory generation method characterized by comprising:   A first transmission step for transmitting the trajectory generated in the first generation step to the first robot arm; a second transmission step for transmitting the trajectory generated in the third generation step to the second robot arm; The robot trajectory generation method according to claim 1, comprising:   3. The robot trajectory generation method according to claim 1, wherein the first spatial data includes information related to an obstacle arranged in an operable region of the plurality of robot arms.   If a new trajectory that avoids the space corresponding to the first spatial data and the second spatial data cannot be generated based on the trajectory definition data including the start point and the end point after the second spatial data is generated, 4. The robot trajectory generation method according to claim 1, wherein two space data is cleared and a new trajectory that avoids the space corresponding to the first space data is generated. 5.   5. The robot trajectory generation method according to claim 1, further comprising a setting step of setting an operation order of the plurality of robot arms.   6. The robot trajectory generation method according to claim 1, further comprising a display step of displaying an image corresponding to the plurality of robot arms arranged in a virtual space on a display device.   The robot trajectory generation according to any one of claims 1 to 6, further comprising an operation process in which the start point and the end point can be set by operating a robot arm displayed in a virtual space. Method.   A robot trajectory generation program for causing the control device to execute each stroke according to any one of claims 1 to 7.   A computer-readable recording medium storing the robot trajectory generation program according to claim 8. A robot trajectory generation device that generates a trajectory for operating a plurality of robot arms arranged close to each other,
A memory for storing first spatial data as a space where the robot arm should avoid passage;
Based on the trajectory definition data including the start point and the end point, a trajectory on which the first robot arm operates while avoiding the space corresponding to the first spatial data is generated. Based on the generated trajectory, the first robot arm Second space data is generated as a space where the second robot arm should avoid passing through the space through which the housing passes, and based on the trajectory definition data including the start point and the end point, the first space data and the second space And a control unit that controls to generate a trajectory on which the second robot arm operates while avoiding a space corresponding to data.   The robot trajectory generation apparatus according to claim 10, further comprising a transmission unit that transmits the generated trajectory to the first robot arm and the second robot arm.   12. The robot trajectory generation device according to claim 10, wherein the first spatial data includes information related to an obstacle arranged in an operable region of the plurality of robot arms.   If a new trajectory that avoids the space corresponding to the first spatial data and the second spatial data cannot be generated based on the trajectory definition data including the start point and the end point after the second spatial data is generated, 13. The robot trajectory generation device according to claim 10, wherein the second trajectory data is cleared to generate a new trajectory that avoids a space corresponding to the first spatial data.   14. The robot trajectory generation apparatus according to claim 10, further comprising setting means for setting an operation order of the plurality of robot arms.   15. The robot trajectory generation apparatus according to claim 10, further comprising display means for displaying images corresponding to the plurality of robot arms arranged in a virtual space.   The robot trajectory generation according to any one of claims 10 to 15, further comprising operation means for setting the start point and the end point by operating a robot arm displayed in a virtual space. apparatus.   The control device causes the robot arm to operate based on the trajectory generated by the robot trajectory generation method according to claim 1, and manufactures an article using the robot arm. Production method.

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