JP6475435B2 - ロボット制御プログラム生成方法および装置 - Google Patents
ロボット制御プログラム生成方法および装置 Download PDFInfo
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- JP6475435B2 JP6475435B2 JP2014154961A JP2014154961A JP6475435B2 JP 6475435 B2 JP6475435 B2 JP 6475435B2 JP 2014154961 A JP2014154961 A JP 2014154961A JP 2014154961 A JP2014154961 A JP 2014154961A JP 6475435 B2 JP6475435 B2 JP 6475435B2
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- 238000000034 method Methods 0.000 title claims description 43
- 238000013075 data extraction Methods 0.000 claims description 26
- 238000004519 manufacturing process Methods 0.000 claims description 11
- 230000036544 posture Effects 0.000 claims 2
- 239000011159 matrix material Substances 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000004088 simulation Methods 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/4093—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/041—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a variable is automatically adjusted to optimise the performance
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0426—Programming the control sequence
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/4093—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
- G05B19/40937—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine concerning programming of machining or material parameters, pocket machining
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36231—Translate, convert machine independent to machine dependent program
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39084—Parts handling, during assembly
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39143—One program in robot controller for both robot and machine, press, mold
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40397—Programming language for robots, universal, user oriented
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45064—Assembly robot
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Software Systems (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Theoretical Computer Science (AREA)
- Geometry (AREA)
- General Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
- Automatic Assembly (AREA)
- Processing Or Creating Images (AREA)
Description
・ロボットの速度(先端速度、各軸速度)
・ロボットの精度
・ロボットツールの動作制御
・異常時の分岐処理
・インタロック信号情報
2 アニメーションプログラム
3 アニメーションプログラムの製品情報
4 アニメーションプログラムの移動軌跡情報
5 アニメーションプログラムのその他の情報
6ロボット用オフラインプログラム(OLP)
7 製品情報ファイル
8 形状ファイル
9 移動軌跡情報ファイル
10、13 ロボット言語変換工程
11 製品情報ファイル
12 OLPの製品情報
14 移動軌跡情報ファイル
15 OLPの移動軌跡情報
16 追加される所定のロボット制御データ
17 ロボット制御プログラム
18 ロボット
Claims (7)
- 複数の部品を組み付けて組立品を製造する際の組立手順を示すアニメーションプログラムのデータから、ロボット制御プログラム作成用データを抽出するデータ抽出工程であって、前記アニメーションプログラムは、作業員に前記組立品の組立手順を教示するために使用される、データ抽出工程と、
前記データ抽出工程で抽出された前記ロボット制御プログラム作成用データに対して、所定のロボット制御データを追加するデータ追加工程と、
前記データ抽出工程で抽出された前記ロボット制御プログラム作成用データと前記データ追加工程で追加された前記所定のロボット制御データとを用いて、前記組立品の組立作業に関するロボット制御プログラムを作成するプログラム作成工程と、
を備え、
前記データ抽出工程において抽出される前記ロボット制御プログラム作成用データは、少なくとも、前記組立品の製品情報と、前記複数の部品の組立時の移動軌跡に関する移動軌跡情報とを含む、ロボット制御プログラム生成方法。 - 前記移動軌跡情報は、少なくとも、前記複数の部品のそれぞれの初期位置および初期姿勢に関するアニメーション初期位置姿勢情報と、前記複数の部品のそれぞれの前記初期位置からの移動軌跡に関するアニメーション移動軌跡情報とを含む、請求項1記載のロボット制御プログラム生成方法。
- 前記プログラム作成工程において、ロボットシミュレータを用いて前記ロボット制御プログラムを作成する、請求項1または2に記載のロボット制御プログラム生成方法。
- 複数の部品を組み付けて組立品を製造する際の組立手順を示すアニメーションプログラムのデータから、ロボット制御プログラム作成用データを抽出するデータ抽出手段であって、前記アニメーションプログラムは、作業員に前記組立品の組立手順を教示するために使用される、データ抽出手段と、
前記データ抽出手段で抽出された前記ロボット制御プログラム作成用データに対して、所定のロボット制御データを追加するデータ追加手段と、
前記データ抽出手段で抽出された前記ロボット制御プログラム作成用データと前記データ追加手段で追加された前記所定のロボット制御データとを用いて、前記組立品の組立作業に関するロボット制御プログラムを作成するプログラム作成手段と、
を備え、
前記データ抽出手段において抽出される前記ロボット制御プログラム作成用データは、少なくとも、前記組立品の製品情報と、前記複数の部品の組立時の移動軌跡に関する移動軌跡情報とを含む、ロボット制御プログラム生成装置。 - 前記移動軌跡情報は、少なくとも、前記複数の部品のそれぞれの初期位置および初期姿勢に関するアニメーション初期位置姿勢情報と、前記複数の部品のそれぞれの前記初期位置からの移動軌跡に関するアニメーション移動軌跡情報とを含む、請求項4記載のロボット制御プログラム生成装置。
- 前記プログラム作成手段は、ロボットシミュレータを含む、請求項4または5に記載のロボット制御プログラム生成装置。
- 請求項1乃至3のいずれか一項に記載のロボット制御プログラム生成方法によって生成されたロボット制御プログラム。
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
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JP2014154961A JP6475435B2 (ja) | 2014-07-30 | 2014-07-30 | ロボット制御プログラム生成方法および装置 |
US15/500,358 US10747200B2 (en) | 2014-07-30 | 2015-07-22 | Robot control program generation method and apparatus |
PCT/JP2015/070843 WO2016017501A1 (ja) | 2014-07-30 | 2015-07-22 | ロボット制御プログラム生成方法および装置 |
EP15827126.2A EP3175957B1 (en) | 2014-07-30 | 2015-07-22 | Robot control program generation method and apparatus |
KR1020177005558A KR20170037652A (ko) | 2014-07-30 | 2015-07-22 | 로봇 제어 프로그램 생성 방법 및 장치 |
KR1020197009136A KR102284015B1 (ko) | 2014-07-30 | 2015-07-22 | 로봇 제어 프로그램 생성 방법 및 장치 |
CN201580040586.7A CN106660210B (zh) | 2014-07-30 | 2015-07-22 | 机器人控制程序产生方法及装置 |
TW104124425A TWI626110B (zh) | 2014-07-30 | 2015-07-28 | 機器人控制程式產生方法及裝置 |
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US (1) | US10747200B2 (ja) |
EP (1) | EP3175957B1 (ja) |
JP (1) | JP6475435B2 (ja) |
KR (2) | KR102284015B1 (ja) |
CN (1) | CN106660210B (ja) |
TW (1) | TWI626110B (ja) |
WO (1) | WO2016017501A1 (ja) |
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WO2015078992A1 (en) * | 2013-11-27 | 2015-06-04 | Engino.Net Ltd. | System and method for teaching programming of devices |
JP6392817B2 (ja) * | 2016-08-04 | 2018-09-19 | ファナック株式会社 | シミュレーション装置 |
CN109643500B (zh) * | 2016-08-31 | 2022-04-19 | 索尼公司 | 信息处理装置、信息处理方法和存储介质 |
US11207778B2 (en) * | 2017-06-30 | 2021-12-28 | Siemens Industry Software Ltd. | Method and system for determining joint values of an external axis in robot manufacturing |
JP6806757B2 (ja) * | 2018-11-16 | 2021-01-06 | ファナック株式会社 | 動作プログラム作成装置 |
CN109773581B (zh) * | 2018-12-29 | 2020-09-11 | 南京埃斯顿机器人工程有限公司 | 一种机器人应用于再现机加工的方法 |
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WO1996036921A1 (en) | 1995-05-19 | 1996-11-21 | 3Com Corporation | Method and apparatus for linking computer aided design databases with a numerical control machine database |
JPH10124130A (ja) | 1996-10-15 | 1998-05-15 | Ricoh Co Ltd | 組立装置 |
JP3705672B2 (ja) * | 1997-03-25 | 2005-10-12 | 株式会社リコー | 自動組立装置及び自動組立方法 |
US6201996B1 (en) * | 1998-05-29 | 2001-03-13 | Control Technology Corporationa | Object-oriented programmable industrial controller with distributed interface architecture |
US20040015079A1 (en) * | 1999-06-22 | 2004-01-22 | Teratech Corporation | Ultrasound probe with integrated electronics |
JP2001353631A (ja) | 2000-06-09 | 2001-12-25 | Ricoh Co Ltd | 組立工程設計支援装置および分解工程設計支援装置 |
JP2002355724A (ja) * | 2001-05-31 | 2002-12-10 | Ricoh Co Ltd | 組立分解工程設計支援装置 |
JP2004237364A (ja) | 2003-02-03 | 2004-08-26 | Honda Motor Co Ltd | ロボットのティーチングデータの作成方法 |
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JP4513663B2 (ja) * | 2005-06-15 | 2010-07-28 | 富士電機ホールディングス株式会社 | 自動組立システムにおける組立機構の動作教示方法 |
CN101739478B (zh) * | 2008-11-17 | 2012-08-29 | 北京卫星环境工程研究所 | 基于航天器装配仿真技术的虚拟装配系统和虚拟装配方法 |
CN102189348B (zh) * | 2011-04-02 | 2013-06-05 | 哈尔滨工业大学 | 用于型钢的机器人切割方法 |
CN103020393B (zh) * | 2012-12-31 | 2015-05-06 | 北京航空航天大学 | 一种基于Web的飞机装配数据可视化方法 |
CN103085072B (zh) * | 2013-03-11 | 2014-10-29 | 南京埃斯顿机器人工程有限公司 | 基于三维建模软件实现工业机器人离线编程的方法 |
WO2015078992A1 (en) * | 2013-11-27 | 2015-06-04 | Engino.Net Ltd. | System and method for teaching programming of devices |
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2015
- 2015-07-22 WO PCT/JP2015/070843 patent/WO2016017501A1/ja active Application Filing
- 2015-07-22 CN CN201580040586.7A patent/CN106660210B/zh active Active
- 2015-07-22 US US15/500,358 patent/US10747200B2/en active Active
- 2015-07-22 KR KR1020197009136A patent/KR102284015B1/ko active IP Right Grant
- 2015-07-22 EP EP15827126.2A patent/EP3175957B1/en active Active
- 2015-07-22 KR KR1020177005558A patent/KR20170037652A/ko not_active Application Discontinuation
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Also Published As
Publication number | Publication date |
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TW201609302A (zh) | 2016-03-16 |
JP2016031724A (ja) | 2016-03-07 |
KR102284015B1 (ko) | 2021-07-30 |
EP3175957B1 (en) | 2019-05-22 |
KR20190037372A (ko) | 2019-04-05 |
EP3175957A4 (en) | 2018-04-04 |
EP3175957A1 (en) | 2017-06-07 |
TWI626110B (zh) | 2018-06-11 |
US20170220024A1 (en) | 2017-08-03 |
CN106660210B (zh) | 2020-04-21 |
CN106660210A (zh) | 2017-05-10 |
WO2016017501A1 (ja) | 2016-02-04 |
US10747200B2 (en) | 2020-08-18 |
KR20170037652A (ko) | 2017-04-04 |
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