JP5978890B2 - Robot motion program correction device - Google Patents

Description

  The present invention relates to an apparatus for correcting a robot operation program.

  Conventionally, after the arrangement of the robot and peripheral devices in the simulation image is matched to the actual arrangement, the positional relationship between the robot and the peripheral devices in the simulation image is checked, and the operating point of the robot and the operation program are corrected. (For example, refer to Patent Document 1).

  According to the method described in Patent Document 1, the simulation apparatus consistently creates an offline operation program, aligns with an actual robot system, detects a deviation amount by touch-up, and corrects the operation program. It can be carried out.

JP 2003-150219 A

  By the way, in the thing of patent document 1, the change of the operating point of the robot by a user is supported by displaying a coordinate system and an arrow in a simulation image.

  However, in a simulation image, it is not always easy for the user to instruct the operation point as intended and to accurately grasp the intention of the user in the simulation apparatus. For example, when the user tries to correct the operating point to the inside of the trajectory, the method in which the user instructs the position of the operating point after correction as intended, the simulation device accurately determines the inside and outside of the trajectory A method is needed.

  The present invention has been made in view of such circumstances, and its main purpose is that the user can intuitively instruct the correction of the operating point and accurately grasp the intention of the user's correction. An object of the present invention is to provide a robot motion program correction apparatus capable of performing the above.

  The present invention employs the following means in order to solve the above problems.

  The first means includes a display unit that displays a robot motion trajectory according to a motion program created in advance, and a range acceptance unit that receives designation of a start point and an end point of a range to be corrected in the motion trajectory displayed on the display unit. A setting unit that sets a corrected point whose position is to be corrected between the start point and the end point, and a movement that accepts designation of an inward / outward direction of the motion trajectory and a movement distance as a movement destination of the corrected point The angle formed by the front receiving unit, the line connecting the start point and the corrected point, and the line connecting the end point and the corrected point is compared with an angle representing 180 °, and the angle formed represents 180 °. Judging to determine the inner and outer directions of the motion trajectory by judging the side smaller than the angle as the inner side of the motion trajectory and judging the side larger than the angle representing 180 ° as the outer side of the motion trajectory. And a moving unit that moves the correction point to the position of the inner / outer direction and the moving distance designated as the destination according to the inner / outer direction determined by the determining unit, and the moving unit moved by the moving unit A robot motion program correction device, comprising: a correction unit that corrects the motion program so that the motion trajectory passes through a correction point.

  According to the above configuration, the motion trajectory of the robot according to the motion program created in advance is displayed on the display unit. When the user specifies the start point and end point of the range to be corrected in the motion trajectory displayed on the display unit, the specification is received by the range receiving unit. A correction point whose position is to be corrected is set between the specified start point and end point by the setting unit. Further, when the user designates the inside / outside direction and the movement distance of the motion trajectory as the movement destination of the correction point, the designation is received by the movement destination receiving unit. Therefore, the user can intuitively instruct the correction of the operation point (corrected point) simply by specifying the range for correcting the operation trajectory, the inner and outer directions of the operation trajectory, and the movement distance. The setting unit may accept designation of the correction point by the user, or may calculate the correction point based on the start point and end point of the correction range.

  Furthermore, by comparing the angle between the line connecting the start point and the corrected point of the correction range and the line connecting the end point and the corrected point with an angle representing 180 ° (180 ° or πrad), the inside and outside of the motion trajectory The direction is determined by the determination unit. For example, when the correction range of the motion trajectory is an arc, the angle formed between the line connecting the start point and the corrected point and the line connecting the end point and the corrected point is smaller than 180 ° inside the motion trajectory, Outside the motion trajectory, it is greater than 180 °. For this reason, the formed angle is compared with 180 °, and the side where the formed angle is smaller than 180 ° is determined as the inside of the motion track, and the side where the formed angle is greater than 180 ° is determined as the outside of the motion track. it can. As a result, the inside and outside directions of the motion trajectory can be determined, and the user's intention for correction can be accurately grasped.

  Then, according to the inside / outside direction determined by the determining unit, the correction point is moved by the moving unit to the inside / outside direction and the moving distance of the motion trajectory designated as the movement destination. For this reason, the position of the correction point can be corrected as intended by the user. Furthermore, since the motion program is corrected by the correction unit so that the motion trajectory passes through the correction point moved by the moving unit, the motion trajectory can be corrected as intended by the user.

  In the second means, the moving unit moves the correction point on a correction plane including the start point, the correction point, and the end point.

  When the user corrects the position of the operating point, the operating point is often corrected inward or outward along the trajectory plane of the operating trajectory. Here, the correction surface including the start point of the correction range, the corrected point, and the end point of the correction range is a surface that is substantially close to the track surface of the motion track. Therefore, the correction intended by the user can be easily realized by moving the correction point on the correction surface by the moving unit.

  The third means includes an inclination receiving unit that receives designation of the inclination of the correction surface, and an inclination unit that inclines the correction surface to the specified inclination.

  According to the above configuration, when the user specifies the inclination of the correction surface including the start point of the correction range, the correction target point, and the end point of the correction range, the specification is received by the inclination receiving unit. Then, the correction surface is tilted by the tilt portion to the specified tilt. Therefore, it is possible to adjust the inclination of the correction surface and move the correction point on the adjusted correction surface.

  In the fourth means, the inclination receiving unit displays an auxiliary surface that is perpendicular to the correction surface and includes the start point or the end point and the correction point on the display unit, and specifies the inclination of the auxiliary surface. Is accepted, the designation of the inclination of the correction surface is accepted.

  According to the above configuration, the auxiliary surface that is perpendicular to the correction surface and includes the start point or the end point and the correction point is displayed on the display unit by the tilt receiving unit. When the user specifies the inclination of the auxiliary surface, the specification of the inclination of the correction surface is received by the inclination receiving unit. Therefore, the user can intuitively adjust the inclination of the correction surface by the operation of inclining the auxiliary surface.

  In the fifth means, the inclination acceptance unit accepts designation of the inclination of the correction surface by accepting designation of an amount by which the correction surface is rotated about a straight line passing through the start point and the end point as a central axis.

  According to the above configuration, the inclination accepting unit accepts the designation of the inclination of the correction surface by the user specifying the amount by which the correction surface is rotated about the straight line passing through the start point and the end point of the correction range as the central axis. Therefore, the user can intuitively adjust the inclination of the correction surface by an operation of rotating the correction surface around the straight line passing through the start point and the end point.

  In the sixth means, the moving unit moves the correction point on a horizontal plane including the correction point.

  When the user corrects the position of the operating point, the operating point is often corrected inward or outward along a horizontal plane including the corrected point. Therefore, the correction intended by the user can be easily realized by moving the correction point on the horizontal plane including the correction point by the moving unit.

  In a seventh means, the moving unit moves the correction point on a bisector of an angle formed by a line connecting the start point and the correction point and a line connecting the end point and the correction point. Let

  In many cases, the user intends to correct the position of the corrected point in the direction of the same distance from the start point and end point of the specified correction range. Therefore, by moving the correction point on the bisector of the angle between the line connecting the start point and the correction point and the line connecting the end point and the correction point, the correction point intended by the user is obtained. Can be easily realized.

  When the seventh means is based on the second to fifth means, a line connecting the start point and the corrected point on the correction surface including the start point of the correction range, the corrected point, and the end point of the correction range. Then, the point to be corrected is moved on the bisector of the angle formed by the line connecting the end point and the point to be corrected. If the seventh means is premised on the sixth means, the second of the angle formed by the line connecting the start point and the corrected point and the line connecting the end point and the corrected point on the horizontal plane including the corrected point The point to be corrected is moved on the dividing line.

  In an eighth means, the display unit displays an operation point on the operation trajectory, and the setting unit sets the correction point by receiving the specification of the correction point from the operation points. .

  According to the above configuration, the operating point on the operating trajectory is displayed on the display unit. When the user designates a correction point from among the operating points, the correction point is set by receiving the designation by the setting unit. Therefore, the user can easily indicate the correction point.

  In the ninth means, the setting unit sets a midpoint between the start point and the end point as the correction point on the motion trajectory.

  When the user corrects the position of the operating point, the start point and the end point of the correction range are often specified so that the operating point to be corrected is approximately in the center. Therefore, the correction point intended by the user can be easily set by setting the midpoint between the start point and the end point of the correction range on the motion trajectory by the setting unit.

  In a tenth means, the setting unit sets the point having the smallest curvature radius between the start point and the end point on the motion trajectory as the corrected point.

  When the user corrects the position of the operating point, the operating point of the portion where the radius of curvature is minimum on the operating trajectory is often corrected. Therefore, the correction unit intended by the user can be easily set by setting, as the correction point, the point having the smallest radius of curvature between the start point and the end point of the correction range on the motion trajectory. be able to.

The schematic diagram which shows the outline | summary of a robot system. A display screen that displays the robot and motion trajectory. The flowchart which shows the correction procedure of an operation program. A display screen showing a designation mode of a destination. The display screen which shows the designation | designated aspect of the inclination of a correction surface. The display screen which shows the example of a change about the designation | designated aspect of the inclination of a correction surface. The display screen which shows the example of a change of the designation | designated aspect of a moving destination.

  Hereinafter, an embodiment will be described with reference to the drawings. The present embodiment is embodied as a robot system that assembles machines and the like in a machine assembly factory or the like.

  FIG. 1 is a schematic diagram showing an outline of the robot system 10. As shown in the figure, the robot system 10 includes a robot 20, a robot controller 30, a teaching pendant 40, and a simulation device 50.

  The robot 20 is a vertical articulated robot, and includes an arm 21 having six (plural) joints and a base 22. The arm 21 (driven portion) has a hand portion 21a at the tip. Each joint of the arm 21 is provided with a motor, and the arm 21 is driven by the rotation of these motors. Each motor is provided with an electromagnetic brake that brakes its output shaft and an encoder that outputs a pulse signal corresponding to the rotation angle of the output shaft. The robot 20 operates the arm 21 to perform operations such as assembly of parts to the workpiece and conveyance of the workpiece.

  The controller 30 (control unit) includes a CPU, a ROM, a RAM, a data storage unit, a drive circuit, a position detection circuit, and the like. The ROM stores system programs and operation programs for the robot 20. The RAM stores parameter values and the like when executing these programs. Detection signals from the encoders are input to the position detection circuit. The position detection circuit detects the rotation angle of the motor provided at each joint based on the detection signal of each encoder. The CPU executes the operation program (program) set in advance, and based on the position information input from the position detection circuit, the rotation angle of each joint of the arm 21 (the posture of the arm 21) is set to the target rotation angle ( Feedback control to target posture).

  The teaching pendant 40 (operating device) includes a microcomputer including a CPU, a ROM, and a RAM, various manual operation keys, and a display 42. The pendant 40 is connected to the controller 30 and can communicate with the controller 30. An operator (user) can manually operate the pendant 40 to create, modify, register, and set various parameters of the operation program of the robot 20. In teaching for correcting the operation program, etc., the operation point (positional coordinate) through which the hand portion 21a of the arm 21 passes in the work is taught. Then, the operator can operate the robot 20 through the controller 30 based on the teaching operation program. In other words, the controller 30 controls the operation of the arm 21 of the robot 20 based on the preset operation program and the operation of the pendant 40.

  The robot 20 has a unique robot coordinate system (a three-dimensional orthogonal coordinate system composed of X, Y, and Z axes), and is controlled by the controller 30 based on the robot coordinate system in the X-axis direction (left-right direction). And freely operate in the Y-axis direction (front-rear direction) and the Z-axis direction (up-down direction). In the robot coordinate system, for example, the center of the base 22 is the origin, the upper surface (horizontal plane) of the floor (work table) is the XY plane, the coordinate axis perpendicular to the floor is the Z axis, and the direction in which the front of the base 22 faces is It is defined to be forward (+ direction of Y axis). The teaching point taught by teaching is stored in position coordinates (position vector) based on the robot coordinate system.

  The simulation device 50 (operation program correction device) is configured by a known personal computer, and includes a CPU, a ROM, a RAM, a keyboard, a mouse, and a display 52. The simulation device 50 is connected to the controller 30. The simulation apparatus 50 creates a three-dimensional image model (hereinafter referred to as “3D model”) of the robot 20 with the software (computer program) based on the robot coordinate system. The simulation apparatus 50 displays the created 3D model on the display 52.

  The operator sets the operating point of the robot 20 and the posture of the robot 20 based on the 3D model displayed on the display 52. The simulation apparatus 50 creates an operation program offline based on the set operation point and posture of the robot 20. Moreover, the simulation apparatus 50 simulates the created operation program, and displays the 3D model, the operation trajectory OB1, and the operation points A1 to A3 of the robot 20 on the display 52 (see FIG. 2). The operator corrects the operating points A1 to A3 and the posture of the robot 20 based on the simulation result. Then, the simulation apparatus 50 recreates (corrects) the operation program based on the corrected operation point and posture of the robot 20. When actually operating the robot 20, the created operation program is stored in the controller 30 or the pendant 40.

  In the present embodiment, when the operator corrects the operation program, the simulation device 50 is shown in FIG. 3 so that the operator intuitively instructs the correction of the operation point and the simulation device 50 accurately grasps the intention of the correction. A series of processing is executed.

  First, in the motion trajectory OB1 displayed on the display 52, designation of the start point and end point of the range to be corrected is accepted (S11). Specifically, as shown in FIG. 4, the operator specifies the start point S and the end point E of the range intended for correction on the motion trajectory OB1 by operating the mouse. Then, designation of the start point S and end point E of the correction range is accepted.

  Subsequently, designation of a corrected point whose position is to be corrected is received from the operating points A1 to A3 displayed on the display 52 (S12). Specifically, as shown in FIG. 4, the correction point intended to be corrected is designated from the operating points A1 to A3 by operating the mouse or the like. Then, designation of the correction point, for example, designation of the operation point A2 is accepted, and the operation point A2 is set as the correction point.

  Subsequently, designation of the movement direction of the correction point is accepted as the movement destination of the correction point (S13). Specifically, as shown in FIG. 4, the operator specifies the inside or outside of the motion trajectory OB1 as the movement destination of the correction point (motion point A2) by a mouse operation or the like in the designation window. And the designation | designated of the inside / outside direction of movement track | orbit OB1 is received.

  Subsequently, designation of the movement distance of the correction point is accepted as the movement destination of the correction point (S14). Specifically, as shown in FIG. 4, as the movement destination of the correction point (operation point A2), the movement distance in the specified internal / external direction of the operation trajectory OB1 is displayed on the specified window by the operator using the keyboard. To specify. And the designation | designated of the movement distance of a correction point is received.

  Subsequently, the inner and outer directions of the motion trajectory OB1 are determined (S15). Specifically, as shown in FIG. 4, the angle formed between the line connecting the start point S and the corrected point (operation point A2) and the line connecting the end point E and the corrected point is compared with 180 °. Thus, the inner and outer directions of the motion trajectory OB1 are determined. That is, the side formed with an angle smaller than 180 ° (angle α side) is determined to be inside the motion trajectory OB1, and the side formed with an angle greater than 180 ° (opposite side to the angle α) is determined to be outside the motion trajectory OB1. To do. If the unit of the angle is rad, the angle formed may be compared with π [rad] to determine the inner and outer directions of the motion trajectory OB1.

  Subsequently, a correction surface including the start point S, the corrected point, and the end point E is calculated (S16). Specifically, as shown in FIG. 4, a correction plane P2 that is a plane including the start point S, the corrected point (operation point A2), and the end point E is obtained.

  Subsequently, the moving direction of the correction point is displayed (S17). Specifically, as shown in FIG. 4 as well, on the correction plane P2, an angle formed by a line connecting the start point S and the correction point (operation point A2) and a line connecting the end point E and the correction point ( An arrow D1 extending from the correction point is displayed in the direction of the bisector of the angle α). When the elevation angle of the correction plane P2 with respect to the XY plane P1 is an angle θ, the normal line of the XY plane and the normal line of the correction plane P2 form an angle θ.

  Subsequently, designation of the inclination of the correction surface P2 is accepted when correcting the inclination of the correction surface P2 (S18). Specifically, as shown in FIG. 5, the auxiliary is a plane that is perpendicular to the correction plane P2 (the plane along the broken motion trajectory OB1) and includes the start point S and the correction target point (motion point A2). The display 52 displays the surface P4 and the auxiliary surface P3 that is a plane including the end point E and the corrected point. Then, the operator designates the inclination of the auxiliary surfaces P3 and P4 when the point R is rotated around the correction point by operating the mouse or the like. Then, by accepting designation of the inclinations of the auxiliary surfaces P3 and P4 (for example, turning the R point counterclockwise), the designation of the inclination of the correction surface P2 (surface along the solid motion trajectory OB2) is accepted and the designated inclination is reached. The correction surface P2 is tilted.

  Subsequently, the correction point is moved to the destination specified in S13, S14, and S18 according to the inner and outer directions of the motion trajectory OB1 determined in S15 (S19). Specifically, as shown in FIG. 5 as well, a line connecting the starting point S and the corrected point (operation point A2) on the correction surface P2 tilted in S18 (surface along the solid operation trajectory OB2). On the bisector of the angle (angle α) formed by the end point E and the line connecting the correction point, the correction point is moved to the inside / outside direction specified in S13 and the movement distance specified in S14. Let At this time, as the start point S, the corrected point, and the end point E, the points moved onto the correction plane P2 tilted in S19 are used.

  Subsequently, the operation program is corrected (recreated) so that the operation trajectory passes through the correction point (operation point A2) moved in S19 (S20). Then, this series of processing ends. Note that the positions of the operating points A1 and A3 included in the correction range may be corrected or the operating points A1 and A3 may be corrected in accordance with the correction of the position of the correction point (the operating point A2), and hence the operating trajectory OB1. Only the operating point A2 may be corrected without correcting the position of.

  In addition, the process of S11 corresponds to the process as a range reception part, the process of S12 corresponds to the process as a setting part, the process of S13 and S14 corresponds to the process as a movement destination reception part, and the process of S15. The process of S18 corresponds to the process as a determination part, the process of S18 corresponds to the process as an inclination accepting part and the tilt part, the process of S19 corresponds to the process as a moving part, and the process of S20 corresponds to the process as a correction part. To do.

  The embodiment described in detail above has the following advantages.

  The motion trajectory OB1 of the robot 20 based on the motion program created in advance is displayed on the display 52. When the operator designates the start point S and the end point E of the range to be corrected in the motion trajectory OB1 displayed on the display 52, the designation is accepted by the range acceptance unit. A set point to be corrected (operation point A2) whose position is corrected is set between the specified start point S and end point E. Further, when the operator designates the inside / outside direction and the movement distance of the motion trajectory OB1 as the movement destination of the correction point, the designation is accepted by the movement destination reception unit. Therefore, the operator can intuitively instruct the correction of the operating point only by designating the range for correcting the operating trajectory OB1, the inner and outer directions and the moving distance of the operating trajectory OB1.

  By comparing the angle formed between the line connecting the start point S and the correction point of the correction range and the line connecting the end point E and the correction point with 180 °, the internal and external directions of the motion trajectory OB1 are determined by the determination unit. The For example, when the correction range of the motion trajectory OB1 is an arc, the angle between the line connecting the start point S and the correction point and the line connecting the end point E and the correction point is 180 ° inside the motion trajectory OB1. And becomes larger than 180 ° outside the motion trajectory OB1. For this reason, the formed angle is compared with 180 °, and the side where the formed angle is smaller than 180 ° is determined as the inside of the motion trajectory OB1, and the side where the formed angle is greater than 180 ° is determined as the outside of the motion trajectory OB1. be able to. As a result, the inside and outside directions of the motion trajectory OB1 can be determined, and the operator's intention for correction can be accurately grasped.

  In accordance with the inside / outside direction determined by the determining unit, the correction point is moved by the moving unit to the position of the movement path OB1 designated as the movement destination in the inside / outside direction and the moving distance. For this reason, the position of the correction point can be corrected as intended by the operator. Furthermore, since the operation program is corrected by the correction unit so that the movement trajectory passes through the correction point moved by the moving unit, the operation track OB1 can be corrected as intended by the operator.

  When the operator specifies the inclination of the correction surface P2 including the start point S of the correction range, the correction point, and the end point E of the correction range, the specification is received by the inclination receiving unit. Then, the correction surface P2 is tilted by the tilting portion to the specified tilt. Accordingly, the correction point can be moved on the adjusted correction surface P2 by adjusting the inclination of the correction surface P2.

  The auxiliary surface P4 that is perpendicular to the correction surface P2 and includes the start point S and the correction point, and the auxiliary surface P3 that includes the end point E and the correction point are displayed on the display 52 by the inclination receiving unit. Then, when the operator specifies the inclination of the auxiliary surfaces P3 and P4, the specification of the inclination of the correction surface P2 is received by the inclination receiving unit. Therefore, the operator can intuitively adjust the inclination of the correction surface P2 by the operation of inclining the auxiliary surfaces P3 and P4.

  The operator often intends to correct the position of the corrected point in the direction of equal distance from the start point S and end point E of the specified correction range. Therefore, on the correction plane P2 whose inclination is corrected by the moving unit, the correction is performed on the bisector of the angle formed by the line connecting the start point S and the correction point and the line connecting the end point E and the correction point. By moving the point, the correction intended by the operator can be easily realized.

  The operating points A1 to A3 etc. on the operating trajectory OB1 are displayed on the display 52. Then, when the operator designates the correction point from among the operating points A1 to A3, the correction point is set by receiving the designation by the setting unit. Therefore, the operator can easily indicate the correction point.

  The above embodiment can also be implemented with the following modifications.

  As shown in FIG. 6, the inclination acceptance unit accepts designation of the amount by which the correction surface P2 (surface along the broken motion trajectory OB1) is rotated with the straight line L passing through the start point S and the end point E as the central axis. Thus, the designation of the inclination of the correction surface P2 may be accepted. Specifically, the rotation amount for rotating the correction point (operation point A2) with the straight line L as the central axis is specified by the operator by operating the mouse. Then, by accepting a designation to rotate the correction point to, for example, the point A2a, the designation of the inclination of the correction surface P2 (a surface along the solid motion trajectory OB2) is accepted, and the correction surface P2 is inclined to the designated inclination.

  According to the above configuration, the operator can specify the amount by which the correction surface P2 is rotated about the straight line L passing through the start point S and the end point E of the correction range as the central axis. Accepted. Therefore, the operator can intuitively adjust the inclination of the correction surface P2 by rotating the correction surface P2 about the straight line L passing through the start point S and the end point E as a central axis.

  For example, as shown in FIG. 4, when the operator corrects the position of the operating point A2, the operating point A2 is often corrected inward or outward along the trajectory surface of the operating trajectory OB1. Here, the correction surface P2 including the start point S of the correction range, the correction point (operation point A2), and the end point E is a surface that is substantially close to the track surface of the operation track OB1. Therefore, when the inclination of the correction surface P2 is not corrected, the correction intended by the operator can be easily realized by moving the correction point on the correction surface P2 by the moving unit.

  In addition, as shown in FIG. 7, for example, when the operator corrects the position of the operating point A2, the operating point A2 is often corrected inward or outward along the horizontal plane P5 including the corrected point. Therefore, the correction intended by the operator can be easily realized by moving the correction point on the horizontal plane P5 including the correction point (operation point A2) by the moving unit. Further, in this case, on the correction plane P2 (horizontal plane P5) whose inclination is corrected, on the bisector of the angle formed by the line connecting the start point S and the correction point and the line connecting the end point E and the correction point. By moving the correction point (in the direction of arrow D2), the correction intended by the operator can be easily realized.

  In the above embodiment, when the operator designates a correction point from among the operating points A1 to A3, the designation is accepted by the setting unit, so that the correction point is set. However, when the operator corrects the position of the operating point, the start point S and the end point E of the correction range are often specified so that the operating point to be corrected is approximately in the center. Therefore, the correction point intended by the operator can be easily set by setting the midpoint between the start point S and the end point E of the correction range on the motion trajectory OB1 as the correction point.

  In addition, when the operator corrects the position of the operating point, the operating point in the portion where the radius of curvature is minimum on the operating trajectory OB1 is often corrected. Therefore, the point to be corrected by the operator is also set by setting the point having the smallest curvature radius between the start point S and the end point E of the correction range on the motion trajectory OB1 by the setting unit. It can be set easily.

  In the above embodiment, the simulation device 50 constitutes the operation program correction device, but the controller 30 may constitute the operation program correction device. In that case, what is necessary is just to display the 3D model of the robot 20, the operation trajectory OB1, the operation points A1 to A3, and the like on the display 42 (display unit) of the pendant 40.

  A horizontal articulated robot may be employed instead of the vertical articulated robot 20.

  DESCRIPTION OF SYMBOLS 10 ... Robot system, 20 ... Robot, 21 ... Arm, 21a ... Hand part, 50 ... Simulation apparatus (operation program correction apparatus), 52 ... Display (display part).

Claims (10)

A display unit for displaying a robot trajectory according to a motion program created in advance;
A range receiving unit that receives designation of a start point and an end point of a range to be corrected in the motion trajectory displayed on the display unit;
A setting unit for setting a correction point whose position is corrected between the start point and the end point;
As a movement destination of the correction point, a movement destination reception unit that receives designation of the inner and outer directions of the movement trajectory and a movement distance;
The angle formed by the line connecting the start point and the corrected point and the line connecting the end point and the corrected point is compared with an angle representing 180 °, and the angle formed is smaller than the angle representing 180 °. A determination unit that determines the inner and outer directions of the operation trajectory by determining that the angle formed by the angle that is greater than the angle representing 180 ° is the outer side of the operation trajectory,
A moving unit that moves the correction point to a position of the inner / outer direction and the moving distance specified as the destination according to the inner / outer direction determined by the determining unit;
A correction unit for correcting the operation program so as to be an operation trajectory that passes through the correction point moved by the moving unit;
A robot motion program correction apparatus comprising:   The robot operation program correction device according to claim 1, wherein the moving unit moves the correction point on a correction plane including the start point, the correction point, and the end point. An inclination accepting unit for accepting designation of the inclination of the correction surface;
A tilt part for tilting the correction surface to the specified tilt;
The robot operation program correction device according to claim 2.   The inclination receiving unit displays an auxiliary surface that is perpendicular to the correction surface and includes the start point or the end point and the correction point on the display unit, and receives the designation of the inclination of the auxiliary surface, 4. The robot operation program correction device according to claim 3, wherein the robot operation program correction device receives designation of the inclination of the correction surface.   The robot operation according to claim 3, wherein the tilt receiving unit receives the designation of the tilt of the correction surface by receiving the designation of the amount by which the correction surface is rotated about a straight line passing through the start point and the end point. Program correction device.   The robot operation program correction device according to claim 1, wherein the moving unit moves the correction point on a horizontal plane including the correction point.   The moving unit moves the correction point on a bisector of an angle formed by a line connecting the start point and the correction point and a line connecting the end point and the correction point. The robot operation program correction device according to any one of the above. The display unit displays an operation point on the operation trajectory,
The robot operation program correction device according to any one of claims 1 to 7, wherein the setting unit sets the correction point by receiving designation of the correction point from the operation points.   The robot operation program correction device according to claim 1, wherein the setting unit sets a midpoint between the start point and the end point as the correction point on the operation trajectory.   The operation of the robot according to any one of claims 1 to 7, wherein the setting unit sets a point having a minimum radius of curvature between the start point and the end point on the motion trajectory as the correction point. Program correction device.

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