JP5872894B2 - Robot motion teaching support apparatus and method - Google Patents

Description

  The present invention relates to a motion teaching support apparatus and a teaching support method that can be used, for example, during motion teaching of a robot.

  For example, in an automobile manufacturing factory or the like, a plurality of robots are installed on a production line and are involved in automobile manufacturing. In recent years, in order to save space in production facilities and increase the efficiency of production, the arrangement of robots on production lines and robot peripheral devices such as workpieces and jigs have become denser. For this reason, the arrangement interval between the robots is narrowed, and the distance between the robot and the peripheral device is also approaching and close to each other.

  On the other hand, the operation of such a robot is controlled by a robot controller. One or more robots are connected to one robot controller, and the robot controller controls the operation of the robot according to an operation program completed in advance. A position for operating the robot, that is, a teaching position used in such an operation program is taught by the following method, for example. That is, for an actual robot installed on the production line, a teaching worker moves the robot to a teaching position using a teaching device called a teaching pendant, for example, and inputs the position information.

  On the other hand, inventions using an external sensor for preventing interference have also been proposed in order to prevent robot interference during actual operation in which the created operation program is executed (for example, Patent Documents 1 and 2).

  Furthermore, in the situation where robots and the like are densely arranged on the production line as described above, it is difficult to perform teaching work on the actual machine, so the robot on the production line is three-dimensionally displayed on the computer screen. In many cases, a simulator that reproduces the robot motion in a simulated manner is used. An invention has also been proposed in which a robot intrusion prohibited area is calculated in such a simulated spatial area (for example, Patent Document 3).

JP 2010-234495 A JP 2009-162709 A JP 2010-240773 A

  However, when performing the teaching work as described above, an operation error of the teaching worker cannot be avoided, and there is a possibility that interference between the robots may occur. That is, during the teaching work of the robot, the teaching worker generally tends to teach while paying attention to the hand of the robot (the place where the working tool is attached). For this reason, attention is not paid to, for example, a joint portion other than the hand of the robot, and there is a possibility that interference with an adjacent robot or a peripheral device may occur.

  For example, if the peripheral device is damaged due to interference between the peripheral device and the robot, the repair time and cost are generated. In order to avoid such a situation, there is a method of performing the teaching work by operating the robot at a low speed, but there arises a problem that the teaching work takes a long time. In addition, the teaching worker needs to work with great care to prevent interference, and the burden on the teaching worker is large.

  Further, the prior arts of Patent Documents 1 and 2 have a drawback in that an external sensor needs to be used and the apparatus configuration becomes large.

  Further, the invention of Patent Document 3 calculates a robot intrusion prohibition area, and does not calculate whether or not objects interfere with each other. Therefore, also in this case, it is necessary to confirm the presence / absence of interference, and the above-described operations such as operation check and teaching correction of the teaching program cannot be avoided.

  The present invention has been made to solve such a problem, and can prevent interference between apparatuses, and can make the work required for preventing the interference more efficient than before. An object of the present invention is to provide a robot motion teaching support apparatus and method.

In order to achieve the above object, the present invention is configured as follows.
That is, the robot motion teaching support apparatus according to the first aspect of the present invention includes a simulator connected to a robot controller that controls the robot motion according to the motion program and displays the motion posture of the robot on the screen, and supports the creation of the motion program. A robot motion teaching support device,
The robot controller has a future position calculation unit for calculating the future position of the robot's motion posture,
The simulator has an interference prediction device that displays on the screen the robot's operation posture at the future position supplied from the future position calculation unit and determines whether or not there is interference of the robot at the future position. To do.

  The interference prediction apparatus can also include an operation stop unit that instructs the robot controller to stop the operation of the robot in accordance with the determination that there is interference.

Further, the teaching device further includes a teaching device connected to the robot controller for inputting operation position information of the robot,
The interference prediction apparatus has a virtual space generation unit that generates a three-dimensional virtual space in which the robot and the robot peripheral devices are arranged in the same positional relationship as the actual work environment in the robot, and at the future position in the three-dimensional virtual space. Display the robot's movement posture,
The interference prediction apparatus further determines in the three-dimensional virtual space whether or not there is interference at a future position of the robot that changes in accordance with the operation position information input from the teaching apparatus, and displays the interference location on the teaching apparatus. It is also possible to have an interference display unit for a teaching device.

Further, the robot motion teaching support method according to the second aspect of the present invention includes a simulator that is connected to a robot controller that controls the motion of the robot according to the motion program and displays the motion posture of the robot on the screen, and a robot that is connected to the robot controller and A robot motion teaching support method for supporting creation of a robot motion program, which is executed by a robot motion teaching support device having a teaching device for inputting motion position information,
The robot controller calculates the future position of the robot's motion posture,
The simulator generates a three-dimensional virtual space in which the robot and the robot peripheral device are arranged in the same positional relationship as the actual work environment in the robot, and displays the robot's motion posture at the future position in the three-dimensional virtual space. Further, in the three-dimensional virtual space, the presence or absence of interference at the future position of the robot that changes with the operation position information input from the teaching device is determined.
When there is interference, the simulator further instructs the robot controller to stop the operation of the robot, and displays the interference location on the teaching device to input operation position information that can avoid the interference. And

  According to the robot motion teaching support apparatus in the first aspect of the present invention and the robot motion teaching support method in the second aspect, a simulator connected to the robot controller is provided, and the simulator prevents interference at a future position of the robot motion posture. It was configured to determine the presence or absence. Therefore, it is possible to prevent interference between the robots or between the robot and its peripheral devices, and the work required for preventing the interference can be made more efficient than before. As a result, the burden on the robot operation program designer can be reduced, and the efficiency and time of teaching work can be improved. In addition, the production line startup time can be shortened.

It is a block diagram which shows the structure of the robot operation | movement teaching assistance apparatus in one Embodiment of this invention. It is a block diagram for demonstrating the structure of the interference prediction apparatus contained in the simulator shown in FIG. It is the figure which showed each component of the robot operation | movement teaching assistance apparatus shown in FIG. 1 in the aspect of one specific Example. It is a flowchart which shows the fundamental operation | movement in the robot operation | movement teaching support method performed with the robot operation | movement teaching support apparatus shown in FIG. It is a figure which shows an example of the image displayed on the display screen of the simulator shown in FIG. It is a figure which shows a part of image displayed on the display screen of the simulator shown in FIG. 1, and is a figure which shows the state by which interference was estimated.

  A robot motion teaching support apparatus and method according to an embodiment of the present invention will be described below with reference to the drawings. In each figure, the same or similar components are denoted by the same reference numerals.

  FIG. 1 is a block diagram showing the configuration of a robot motion teaching support apparatus 100 according to this embodiment. In FIG. 3, each component of the robot motion teaching support apparatus 100 is shown in a specific embodiment.

  For example, in a completed production line, a robot installed in the production line is automatically controlled according to an operation program created in advance. The robot motion teaching support device 100 is a device that is used when creating such a motion program and supports teaching of robot motion.

  Such a robot motion teaching support apparatus 100 according to this embodiment includes a robot controller 20 and a simulator 30 connected to the robot controller 20 as basic components. The robot controller 20 is a device that controls the operation of the robot 10 in accordance with the operation program. The simulator 30 is connected to the robot controller 20 via the communication network 50, and displays the operation posture of the robot, that is, the movement of each part of the robot. And a device that performs the operations described later in detail. Hereinafter, each of these components will be described in more detail.

  In the present embodiment, the robot 10 is a work robot arranged on a production line, and a welding robot in an automobile production line is taken as an example. In FIG. 3, only one robot 10 is illustrated as an example, but normally, a plurality of robots 10 are arranged, and these robots 10 are controlled by one or a plurality of robot controllers 20. Needless to say, the robot 10 is not limited to the welding robot described above, and may be, for example, a painting robot, an assembly robot, or the like, and is not limited to a robot that is fixedly installed like a production line robot. A robot (AGV), a positioner, or the like may be used.

  In the present embodiment, the robot controller 20 includes a future position calculation unit 21 that calculates the future position of the motion posture of the robot 10. Since the robot controller 20 has, for example, the current position information of the arm, which is one of the operation parts of the robot 10, and the moving speed information specified for this arm, the future position calculation unit 21 specifies the information from these information. The future position of the arm after time, that is, the future command value can be calculated. Further, like the conventional robot controller, the robot controller 20 also includes a storage unit 22 for storing the operation program and the like.

  A method in which the future position calculation unit 21 calculates the future position of the arm, for example, will be described. First, taking a joint operation mode, which is a mode in which a command value is given to each joint in the robot 10 for operation, the future command value is calculated by θ (t + 1) = θ (t) + TΔθ. Here, θ is a vector having each joint angle in the robot 10 as a component, and Δθ is a change amount of each joint angle. Δθ is obtained by multiplying the angular velocity of each joint by the control cycle time. T is a parameter for virtually adjusting the advance range up to the “future” here. If T is a large value, a far future position can be calculated. A mode other than the joint operation mode, that is, a base coordinate system operation mode that is operated by giving a command value on the base coordinate system in the robot 10, or a mode that is operated by giving a command value on the tool coordinate system in the robot 10. In the case of the tool coordinate system operation mode, the future position can be calculated in the same manner as in the joint operation mode.

  As shown in FIG. 3, such a robot controller 20 is realized mainly using a computer. A future position calculation unit 21 includes software corresponding to the function and a CPU (Central Processing Unit) for executing the software. ) And other hardware. The operation program includes not only a program that can be directly executed by the robot controller 20, but also a program that can be executed by being read into the robot controller 20 via a communication line and installed in a hard disk or the like. Also included are those that are compressed or encrypted.

The robot controller 20 is also provided with a teaching device 40 called a teaching pendant, for example, for inputting position information of the movement destination of the robot arm so that the teaching worker teaches the robot operation when creating the operation program. Is also connected. At the time of teaching work, the teaching worker operates the robot 10 with the teaching device 40.
Therefore, the future position calculation unit 21 in the robot controller 20 calculates a future command value that changes momentarily according to the input value from the teaching device 40.

A conventional simulator is an apparatus used for executing and verifying a rough operation of a robot in a stage before an actual production line is assembled, that is, a temporary production line in which a robot is virtually arranged on a screen.
On the other hand, the simulator 30 included in the present embodiment is connected to the robot controller 20 through the communication network 50 as described above, as well as the conventional usage method. This is a device for simulating the situation on the display screen 32 and has an interference prediction device 31. It should be noted that the simulator 30 and the robot controller 20 may be configured separately as illustrated, software (program) that executes the function of the robot controller 20, and software (program) that executes the function of the simulator 30. Can be stored in a single computer.

  The interference prediction device 31 displays the operation posture of the robot 10 at the future position (future command value) supplied from the future position calculation unit 21 of the robot controller 20 on the display screen 32, and the robot at the future position. 10 is an apparatus for determining the presence or absence of interference. Here, the interference of the robot 10 means a case where, for example, arms of a plurality of robots 10 abut each other, or a case where a peripheral device such as a workpiece or a jig abuts, for example, an arm.

Since the teaching device 40 is connected to the robot controller 20 as described above, the simulator 30 also performs bidirectional communication with the teaching device 40. Therefore, the simulator 30 can display the operation posture of the robot 10 on the display screen 32 in accordance with the position information input from the teaching device 40. On the other hand, as shown in FIG. 3, the teaching device 40 has the display screen 41, and thus the same image as the display screen 32 in the simulator 30 can be displayed on the display screen 41 by the bidirectional communication.
Therefore, when the interference prediction device 31 of the simulator 30 determines that there is interference at the future position, the interference prediction device 31 instructs the robot controller 20 to stop the operation of the robot 10. The teaching operator can input correction position information for avoiding interference from the teaching device 40.

  In the present embodiment, as shown in FIG. 2, such an interference prediction apparatus 31 includes a virtual space generation unit 31 a, a screen display unit 31 b, an operation stop unit 31 c, and a teaching device interference display as functional operation parts for convenience of explanation. A unit 31d, a distance setting unit 31e, and an interference determination unit 31f.

Such a simulator 30 is actually realized using a personal computer as shown in FIG. 3, and includes a virtual space generation unit 31a, a screen display unit 31b, an operation stop unit 31c, a teaching device interference display unit 31d, and a distance setting. The unit 31e and the interference determination unit 31f are configured by software corresponding to each function and hardware such as a CPU and a memory for executing the software.
The detailed functions of each functional operation part such as the virtual space generation unit 31a will be described in the operation explanation part of the robot motion teaching support apparatus 100 described below.

  The operation in the robot operation teaching support apparatus 100 of the present embodiment configured as described above, that is, the robot operation teaching support method will be described below with reference to FIGS.

As described above, the robot controller 20, the simulator 30, and the teaching device 40 are connected to each other via the communication network 50. As a general operation of the robot motion teaching support device 100, referring to FIG. It becomes like this.
That is, for the teaching position to be taught in the robot 10, the teaching operator inputs the position information of the robot 10 related to the operation from the teaching device 40 (step S1). Next, the future position calculation unit 21 of the robot controller 20 calculates the future position (future command value) according to the input position information (step S2), and the calculated future command value is predicted by the simulator 30 as an interference. Transmit to the device 31. Then, the interference prediction device 31 determines whether or not there is interference between robots and peripheral devices at the future position of the robot 10 (step S3). If it is determined in step S3 that there is interference at the future position, a stop signal is transmitted from the interference prediction device 31 to the robot controller 20, and the robot controller 20 stops the operation of the robot 10 (step S4). Therefore, actual interference in the robot 10 is prevented in advance. Further, in order to avoid interference at the predicted future position, the process returns to Step 1 again, and the teaching operator can input the corrected position information from the teaching device 40, and the simulator 30 responds to the corrected position information. Again, the presence or absence of interference at the future position is determined.
As will be described below, FIG. 4 shows that a three-dimensional space is generated in step S0, but this operation is not an essential operation.

The operation of the robot operation teaching support apparatus 100 will be described in more detail.
First, the interference prediction device 31 of the simulator 30 has the same positional relationship as the actual work environment so that the teaching worker who performs the teaching work on the robot 10 can easily recognize the presence or absence of the above-described interference. A three-dimensional virtual space in which the robot 10 and the peripheral devices are arranged and set is constructed (FIG. 4, step S0). This operation is executed by the virtual space generation unit 31a of the interference prediction apparatus 31 shown in FIG. 2 using the input information on the actual work environment, and the three-dimensional virtual space to be constructed includes the actual robot 10 and the surrounding area. The model is based on the device. The constructed three-dimensional virtual space model is displayed on the display screen 32 of the simulator 30 by the screen display unit 31 b (FIG. 2) of the interference prediction device 31. An example of the displayed three-dimensional virtual space model is shown in FIG.

  As described above, the teaching worker instructs the operation position and posture of the robot 10 using the teaching device 40 (FIG. 4, step S1). The future position calculation unit 21 of one or a plurality of robot controllers 20 calculates a future command value in accordance with the input operation of the movement posture (FIG. 4, step S2), and the simulator 30 is connected via the communication network 50. Transmit to the interference prediction device 31. Here, the future command value is, for example, a command value at a time several hundred milliseconds to several seconds ahead of the actual time, and the future position calculation unit 21 can arbitrarily set one time within the above range. is there.

  In accordance with the supplied future command value, the interference prediction device 31 checks the presence or absence of interference between the robots 10 and between the robot 10 and peripheral devices (FIG. 4, step S3). This operation is executed by the interference judgment unit 31f of the interference prediction apparatus 31 shown in FIG. In parallel with this operation, the screen display unit 31b sequentially changes the display of the motion posture of the robot 10 in the three-dimensional virtual space model according to a future command value. As already described, when the teaching operator operates the robot 10 using the teaching device 40, future command values change from moment to moment. Therefore, the interference prediction device 31 determines the posture of the robot 10 in the three-dimensional virtual space based on a future command value at a certain time, and checks for the presence or absence of interference.

If there is no interference as a result of the interference check by the interference prediction device 31, the robot 10 operates according to the instruction of the teaching worker. Then, after the robot 10 has moved to the location to be taught, based on a storage instruction from the teaching device 40 to the robot controller 20, the position information of the robot 10 at that time is taken into the storage unit 22 and the teaching is completed. Is done.
On the other hand, if interference occurs as a result of the interference check, interference will occur if the robot 10 operates as it is, so the interference prediction device 31 transmits a stop signal to the robot controller 20 via the communication network 50. To do. This operation is executed by the operation stop unit 31c of the interference prediction apparatus 31 shown in FIG. The robot controller 20 that has received the stop signal stops the operation of the corresponding robot 10 (FIG. 4, step S4). Thereby, interference can be prevented in advance.

  In parallel with this operation, the interference prediction device 31 causes the robot 10 to interfere with the screen display unit 31b by a method such as changing the display color in the three-dimensional virtual space model of the display screen 32. Highlight the predicted wax interference. A three-dimensional virtual space model in such an interference situation is shown in FIG. In FIG. 6, the portion denoted by “11” corresponds to the interference prediction portion of the robot 10 highlighted. Thereby, the teaching worker can easily recognize the interference prediction portion.

  Further, in parallel with the transmission of the stop signal, the interference prediction device 31 of the simulator 30 notifies the teaching device 40 connected via the communication network 50 of the interference prediction, and the interference prediction portion of the robot 10 Send information about. This operation is executed by the teaching apparatus interference display unit 31d of the interference prediction apparatus 31 shown in FIG. Therefore, the same image as that displayed on the display screen 32 of the simulator 30 is displayed on the display screen 41 of the teaching device 40, and the interference prediction portion of the robot 10 is also displayed. The teaching device 40 is configured to be able to enlarge and display a necessary area (for example, an interference prediction portion) of the display screen 41. As a result, the teaching worker can recognize which part of the robot 10 should be noted, and can use it as a guide for instructing an operation for avoiding interference.

  Thereafter, the process returns to step S1 in FIG. 4 again, and the teaching operator instructs the operation position and posture of the robot 10 using the teaching device 40 so that interference can be avoided. Thereafter, steps S2 to S4 are similarly repeated until it is determined in step S3 that there is no interference, and the teaching operator finishes teaching the teaching position to be taught in the robot 10. The same teaching work is performed for other teaching positions, and the teaching work of the robot 10 is finally completed.

  As described above, by using the robot motion teaching support apparatus 100 according to the present embodiment, the robot 10 is predicted to interfere, the robot 10 is stopped before the actual interference occurs, and the teaching apparatus 40 receives the robot 10 from the robot 10. The interference prediction portion is displayed, and the teaching operator can input correction position information from the teaching device 40. Therefore, the work required for preventing the interference in the operation program of the robot 10 can be performed more efficiently than before, and the teaching work can be made more efficient and the time can be shortened. Therefore, the burden on the operation program designer can be reduced, and further, the production line start-up time can be shortened. Then, in the actual operation of the robot 10, it is possible to prevent interference between the robots 10 or between the robot 10 and its peripheral devices. In addition, the above-described robot 10 can be stopped more efficiently by stopping the robot 10 in such a manner that the operation can be resumed quickly such as a temporary stop.

Hereinafter, further contrivance points and the like in the robot motion teaching support apparatus 100 of the present embodiment will be described.
In the simulator 30, as described above, a virtual three-dimensional space is constructed to check for the presence of interference. Therefore, it is inevitable that a position error of several millimeters or more occurs between the device arrangement in the three-dimensional virtual space and the actual device arrangement. In order to cope with such erroneous detection of interference caused by the position error, the robot motion teaching support apparatus 100 of the present embodiment has the following two points.

  First, the check logic for the presence or absence of interference in the interference prediction device 31 determines that interference occurs when the distance between geometric shapes constituting the three-dimensional virtual space model is less than a set value. Therefore, in order to deal with the position error, the interference prediction apparatus 31 responds by adjusting the set value corresponding to the position error. The ideal setting is zero. This operation is executed by the distance setting unit 31e of the interference prediction apparatus 31 shown in FIG.

  As another one, when the future command value (future position) is calculated by the future position calculation unit 21 of the robot controller 20, it is adjusted by how much the command value at the future time is calculated. The sensitivity increases when the command value at a later time is calculated.

In addition, although related to the handling of the position error, the robot 10 may fall into a state called deadlock. That is, it is assumed that, for example, an arm of the robot 10 enters a narrow part, and when the robot 10 is operated in most directions, it is determined that there is interference and the robot 10 cannot move.
In order to easily release from such a deadlock state, the teaching device 40 enables an effective / invalid switching button (interference check override button) 42 (FIG. 1) that can easily switch between enabling and disabling the interference check. Have For example, when the teaching worker instructs the operation position and posture of the robot 10 by pressing this button and pressing the axis operation key of the robot 10, the teaching device 40 interferes with the interference prediction device 31. Checks can be disabled. This function can also be used as a countermeasure against the above-described erroneous detection due to position errors.

  It has already been stated that adjusting the time from the actual time to the future command value calculation time as one of the countermeasures against the erroneous detection due to the position error, and that the shorter this time is ideal. However, when the number of robots 10 to be subjected to interference prediction increases, the time required for interference check increases. As a result, the future position of the robot 10 cannot be checked, and interference may occur. In order to prevent the occurrence of interference, there is a method for reducing the interference check time by physically reducing the amount of calculation. In other words, the interference prediction device 31 of the simulator 30 may be configured not to perform an interference check for a robot and a peripheral device arranged outside the operation range where no interference occurs, for example. Alternatively, the teaching device 40 may be used to manually set a combination to be subjected to interference check.

  Moreover, the following method can also be taken as a method for preventing the occurrence of interference other than physically reducing the amount of calculation described above. That is, the time required for the interference check is always compared with the time from the actual time to the future command value calculation time, and when it is determined that the time required for the interference check is longer, for example, via the teaching device 40. The teaching worker is notified of this, and the teaching worker is made to change the time setting from the actual time to the future command value calculation time, or the interference prediction device 31 automatically adjusts the time setting, etc. You may make it take a means.

  In the robot motion teaching support apparatus 100 of the present embodiment, the simulator 30 is always connected to the robot controller 20 via the communication network 50. However, the simulator 30 can be removed and the communication network 50 is only necessary. You may comprise so that it may connect to. Here, the “necessary time” means, for example, when the production line is started up as described above, or when the teaching of the robot 10 is changed due to, for example, a workpiece change or line change.

  In addition, as described above, the robot motion teaching support device 100 is assumed to be used as a device for avoiding interference during teaching work, but the robot error stop during automatic driving by the completed motion program, It can also be used to prevent interference due to program mistakes.

Further, as for the peripheral device and the workpiece of the robot 10, an object that is moved by a positioner or the like other than the stationary device can be subjected to the interference check.
In addition, when the position of the object can be obtained based on information from a sensor such as an encoder built in the actuator for moving the object, or the position of the object can be determined by an external sensor such as a laser distance sensor. You may measure. The position of the object in the three-dimensional virtual space may be determined by inputting the measured data to the interference prediction device 31.

  The present invention can be applied to a teaching support apparatus and teaching support method at the time of teaching robot operation.

10 ... Robot, 20 ... Robot controller, 21 ... Future position calculation unit,
30 ... Simulator, 31 ... Interference prediction device, 31a ... Virtual space generation part,
31b ... Screen display unit, 31c ... Operation stop unit, 31d ... Interference display unit for teaching device,
31e ... Distance setting unit, 40 ... Teaching device, 42 ... Valid / invalid switching button
100: Robot motion teaching support device.

Claims (7)

A robot motion teaching support apparatus that includes a simulator (30) that is connected to a robot controller (20) that controls the motion of the robot (10) according to the motion program and that displays the motion posture of the robot on the screen, and that supports creation of the motion program. And
The robot controller has a future position calculation unit (21) for calculating the future position of the robot's motion posture,
The simulator, the future position calculating unit operation posture of the robot at the future position supplied screen displays from, and possess the interference prediction apparatus for determining the presence or absence of interference of the robot (31) at a future position,
The teaching device further includes a teaching device connected to the robot controller and inputting robot operation position information, wherein the teaching device includes first operation position information and second operation of the robot operation posture created in the operation program. Among the position information, the first operation position information is input,
The future position calculation unit calculates the second motion position information corresponding to the future position of the robot motion posture in accordance with the first motion position information input from the teaching device.
A robot motion teaching support apparatus.   The robot motion teaching support apparatus according to claim 1, wherein the interference prediction apparatus includes an operation stop unit (31 c) that instructs the robot controller to stop the operation of the robot in accordance with the determination that there is interference. Upper Symbol Interference prediction device, the virtual space generation unit for generating a three-dimensional virtual space of arranging the robot and the robot peripheral device at the same positional relationship as the actual working environment in the robot has a (31a), in the 3-dimensional virtual space Display the robot's movement posture at the above future position,
The interference prediction apparatus further determines in the three-dimensional virtual space whether or not there is interference at a future position of the robot that changes in accordance with the operation position information input from the teaching apparatus, and displays the interference location on the teaching apparatus. The robot operation teaching support apparatus according to claim 2, further comprising a teaching apparatus interference display unit (31 d) to be operated.   4. The robot motion teaching support apparatus according to claim 3, wherein the teaching apparatus includes a valid / invalid switching button (42) for validating or invalidating the determination of presence / absence of interference in the interference prediction apparatus.   The robot motion teaching support apparatus according to claim 1, wherein the future position calculation unit calculates a future position several hundred milliseconds to several seconds ahead.   The robot motion teaching support apparatus according to any one of claims 1 to 5, wherein the interference prediction apparatus includes a distance setting unit (31e) that variably sets a distance between target members for determining that there is interference. A simulator (30) connected to the robot controller (20) for controlling the operation of the robot (10) according to the operation program and displaying the operation posture of the robot on the screen, and a teaching for inputting the operation position information of the robot connected to the robot controller. A robot motion teaching support method for supporting creation of a robot motion program, which is executed by a robot motion teaching support device including the device (40),
When the first motion position information among the first motion position information and the second motion position information of the motion posture of the robot created in the motion program is input via the teaching device,
The robot controller calculates the second movement position information corresponding to the future position of the movement posture of the robot according to the input first movement position information ,
The simulator generates a three-dimensional virtual space in which the robot and the robot peripheral device are arranged in the same positional relationship as the actual work environment in the robot, and displays the robot's motion posture at the future position in the three-dimensional virtual space. Further, in the three-dimensional virtual space, the presence or absence of interference at the future position of the robot that changes with the operation position information input from the teaching device is determined.
When there is interference, the simulator further instructs the robot controller to stop the operation of the robot, and causes the teaching device to display the interference location in order to input operation position information that can avoid the interference.
A robot motion teaching support method.

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