JP6733356B2 - Arithmetic device, arithmetic method, arithmetic program, and robot system - Google Patents

Description

The present invention relates to an arithmetic device, an arithmetic method, an arithmetic program, and a robot system.

There is a demand for a technique that allows a plurality of robots to perform a cooperative operation. For example, there is a demand for a technique in which one robot supports one end of a cable and the other robot supports the other end of the cable to perform cable forming.

JP-A-1-002107

However, in cable forming, if the distance between the support points of both robots is too small, the cable may sag. On the other hand, if the distance between the support points of both robots exceeds the natural length of the cable, the cable may break. Further, there is a possibility that the cable may be broken even if the cable is excessively bent during the relative movement of the two robots. In either case, the success rate of cable forming is reduced.

In one aspect, it is an object of the present invention to provide a computing device, a computing method, a computing program, and a robot system that can improve the success rate of forming flexible objects such as cables.

In one mode, an arithmetic unit supports the 2nd place of a flexible thing by which the 1st place was supported, and moves the 2nd place relatively to the 1st place. in the forming of changing, said from the start of the movement up to the end point, in contact with the said first location and a distance between the second points Ri is gradually reduced, the line connecting the said starting point and said first point virtual A calculator is provided that calculates the trajectory of the second location so as to include the involute curve of the winding trajectory around the circle or the virtual ellipse and the tangent vector from the second location to the virtual circle or the virtual ellipse .

In one mode, a robot system supports the 2nd place of a flexible thing by which the 1st place was supported, and by making the 2nd place move relatively to the 1st place, the flexible thing. comprising a robot for performing a forming to change the shape, the robot, before reaching the end point from the start point of the movement, the Ri is gradually reduced distance between the first location and the second location, said first location The second location traces an orbit so that it includes an involute curve of a winding trajectory around a virtual circle or a virtual ellipse tangent to a line connecting the starting point and a tangent vector from the second location to the virtual circle or the virtual ellipse. Move as you draw.

The success rate of forming a flexible object can be improved.

1 is a schematic diagram of a robot system including an arithmetic device according to a first embodiment. It is a figure for demonstrating the subject of cable forming. (A) And (b) is a figure for demonstrating the subject of cable forming. (A) And (b) is a figure for demonstrating the subject of cable forming. (A) And (b) is a figure for demonstrating the subject of cable forming. (A) And (b) is a figure for demonstrating the subject of cable forming. FIG. 3 is a functional block diagram of the arithmetic unit according to the first embodiment. It is a figure which illustrates a trajectory when a circle is used as a virtual figure. It is a figure which illustrates an involute curve. It is a figure which illustrates the flowchart showing an example of operation|movement of a robot system. It is a figure which illustrates a winding orbit when an ellipse is used as a convex virtual figure. It is a figure which illustrates a winding track at the time of using a hexagon as a convex virtual figure. FIG. 6 is a functional block diagram of an arithmetic device according to a second embodiment. It is a figure which illustrates orbital division when a virtual circle is used as a convex virtual figure. It is a figure which illustrates the flowchart showing an example of operation|movement of a robot system. (A) is a block diagram for explaining the hardware configuration of the arithmetic unit, and (b) is a diagram illustrating another example of the robot system.

Hereinafter, embodiments will be described with reference to the drawings.

FIG. 1 is a schematic diagram of a robot system 100 including an arithmetic device 10 according to the first embodiment. The robot system 100 is a device that performs dual-arm cooperative work. As illustrated in FIG. 1, the robot system 100 includes a calculation device 10, a control device 20, a support robot 30, a work robot 40, and the like. The support robot 30 and the work robot 40 are, for example, vertical articulated arm robots, and perform product assembly work and the like by dual-arm cooperative work.

The support robot 30 has a configuration in which a plurality of arms are connected via one or more joints, and has a support hand 31 for supporting an object at its tip. The one or more joints perform horizontal turning, vertical turning, and the like. The support robot 30 adjusts the position and posture of the support hand 31 by turning one or more joints. The position can be represented by three axes of XYZ axes. The posture can be represented by a rotation angle on the XYZ axes. Therefore, the support robot 30 can realize movement with 6 degrees of freedom.

The work robot 40 has a configuration in which a plurality of arms are connected via one or more joints, and is provided with a work hand 41 for supporting an object and performing work at the tip. The one or more joints perform horizontal turning, vertical turning, and the like. The work hand 41 performs forming, for example, in cooperation with the support hand 31. Forming is a process of changing a flexible object (for example, a cable) into a desired shape. Cable forming is a process of bending a flexible cable into a desired shape. The work robot 40 adjusts the position and posture of the work hand 41 by turning one or more joints. That is, the work robot 40 can also realize movement with 6 degrees of freedom.

The computing device 10 creates a robot program for the control device 20 to control the operations of the support robot 30 and the work robot 40 by computation. The created robot program is transmitted to the control device 20. The control device 20 controls the operations of the support robot 30 and the work robot 40 according to the robot program received from the arithmetic device 10. Specifically, the control device 20 controls the position and posture of the support hand 31 by adjusting the angle of the joint of the support robot 30, and controls the fulcrum of the support hand 31. The control device 20 also controls the position and posture of the work hand 41 by adjusting the angle of the joint of the work robot 40, and controls the work operation of the work hand 41. Therefore, the position, posture, and movement of the support hand 31 can be represented by the angle of each joint of the support robot 30. Further, the position, posture, and motion of the work hand 41 can be represented by the angle of each joint of the work robot 40.

The support robot 30 and the work robot 40 have their positions and postures relatively fixed between the support hand 31 and the work hand 41 in the partial constraint cooperative work. In each work, the position and posture between the support hand 31 and the work hand 41 change. For example, when one position and posture are fixed, when the coordinate systems at the other position at a predetermined time point (for example, start time point) in each work are arranged, the other coordinate system draws a trajectory.

Here, the problem of cable forming will be described. In the cable forming, as illustrated in FIG. 2, the support hand 31 fixedly supports the first portion of the cable 50 at the fulcrum P _F on the substrate to which the assembly component is attached. The work hand 41 moves while supporting the second portion of the cable 50. For example, the support point of the work hand 41 moves from the start point P _S to the end point P _E. Thereby, the cable 50 is bent into a predetermined shape, and cable forming is performed.

In cable forming, interference between the work hand 41 and the assembly parts is avoided. In some cases, interference between the cable 50 and the assembly parts is avoided in order to improve the work success rate. That is, the trajectory of the support point of the work hand 41 is an interference avoidance motion trajectory for avoiding the interference between the work hand 41 and the assembly parts. Further, in cable forming, breakage of the cable 50 is avoided. For example, as illustrated in FIG. 3A, if the cable length between the first location and the second location is extended beyond its natural length, it may break. Further, as illustrated in FIG. 3B, when the cable 50 is deformed to give a curvature exceeding the allowable curvature, the cable 50 may be broken. That is, the track of the support point of the work hand 41 is a cable break avoidance motion track that avoids breakage of the cable 50.

Next, the linear interpolation trajectory will be examined. FIG. 4A is a diagram illustrating a linear interpolation trajectory. As illustrated in FIG. 4 (a), in the linear interpolation trajectory, from the start point P _S to the end point P _E, so that the supporting point of the work hand 41 draws a straight track. The posture of the work hand 41 is spherically linearly interpolated. If there is no assembly part in the middle of the linear interpolation trajectory, the linear interpolation trajectory is the interference avoidance operation trajectory.

However, in this case, the distance between the support point of the work hand 41 and the fulcrum P _F of the support hand 31 becomes short in the middle of the trajectory. Specifically, the distance between the support point of the work hand 41 and the fulcrum P _F of the support hand 31 is the shortest at the midpoint between the start point P _S and the end point P _E of the support point of the work hand 41. FIG. 4B is a side view of the cable 50 in this case. As illustrated in FIG. 4B, in this case, the cable 50 is slackened, and the work success rate may be reduced due to the cable 50 being caught by the assembled component or the like.

Next, the joint interpolation trajectory will be examined. FIG. 5A is a diagram illustrating a joint interpolation trajectory. In the joint interpolation trajectory, by indirect linear interpolation between the posture of the work hand 41 with the starting point P _S and the end point P _E of the support point of the working hand 41, the trajectory of the supporting point of the work hand 41 is generated. For example, as illustrated in FIG. 5A, the support points of the work hand 41 draw a curve. If there is no assembly part in the joint interpolation trajectory, the joint interpolation trajectory is the interference avoidance operation trajectory.

However, in this case, the trajectory of the support point of the work hand 41 depends on the structure and posture of the work robot 40. In some cases, as illustrated in FIG. 5 (b), in the middle track, the distance between the fulcrum P _F of the support points and support the hand 31 of the work hand 41, a first location of the cable 50 and the second location It may be larger than the natural length. In this case, the cable 50 may be broken.

Next, the circular arc trajectory will be examined. FIG. 6A is a diagram illustrating an arc trajectory. In the arcuate trajectory, as illustrated in FIG. 6A, the support point of the work hand 41 draws an arc. If there is no assembly part in the middle of the circular arc trajectory, the circular arc trajectory is the interference avoidance motion trajectory. However, in this case, as illustrated in FIG. 6B, since the distance between the support point of the work hand 41 and the fulcrum P _F is constant and the fulcrum P _F is fixed, the support hand is fixed. The curvature of the cable 50 may become large near the fulcrum P _{F of} 31. In this case, if the curvature exceeds the allowable curvature, the cable 50 may break. That is, it is difficult to realize an appropriate curvature in the vicinity of the fulcrum P _F with a simple circular orbit.

Therefore, in the present embodiment, the arithmetic device 10 calculates a trajectory that can improve the success rate of forming the cable 50. FIG. 7 is a functional block diagram of the arithmetic unit 10. As illustrated in FIG. 7, the arithmetic device 10 functions as a model storage unit 11, an information input unit 12, a virtual figure calculation unit 13, a trajectory calculation unit 14, a program generation unit 15, and an output unit 16.

The model storage unit 11 stores models of assembly parts, cables, and the like to be assembled on the board. By referring to the model, it is possible to grasp the type of assembly parts to be assembled on the board, the assembly position, the shape of the cable, and the like. The information input unit 12 allows the operator to enter the fulcrum P _F , the start point P _S , the end point P _{E of} the cable 50, the natural length between the first and second positions of the cable 50, the allowable curvature of the virtual circle, and the like. Is entered. The allowable curvature of the imaginary circle is the allowable curvature of the cable 50.

The virtual figure calculator 13 calculates a convex virtual figure. The convex shape is, for example, a circle, an ellipse, a quadrangle, a pentagon, a hexagon, or the like. The trajectory calculation unit 14 calculates a work trajectory of cable forming using the virtual figure obtained by the calculation by the virtual figure calculation unit 13. The work trajectory of the cable forming is the trajectory of the support point (second portion of the cable 50) of the work hand 41 with respect to the cable 50.

The program generation unit 15 generates a robot program of the operation of the support robot 30 and the work robot 40 so that the work hand 41 realizes the work trajectory calculated by the trajectory calculation unit 14. The output unit 16 outputs the robot program generated by the program generation unit 15 to the control device 20. Thereby, the support robot 30 and the work robot 40 perform work so that the trajectory calculated by the trajectory calculation unit 14 is realized.

FIG. 8 is a diagram illustrating a trajectory when a circle is used as a virtual figure. As illustrated in FIG. 8, the distance between the fulcrum P _F of the support hand 31 and the starting point P _S of the work hand 41 is D ₁ . The distance between the fulcrum of the support hand 31 and the end point of the work hand 41 is D ₂ . In the present embodiment, it is assumed that the distance D ₁ >distance D ₂ .

First, an imaginary circle tangent to a line connecting the fulcrum P _F of the support hand 31 and the starting point P _S of the work hand 41 is assumed. The virtual circle is arranged on the end point _PE side of the work hand 41 with respect to the line. Let the radius of the virtual circle be radius r. The length from the fulcrum P _F to the contact point C _{1 of the} virtual circle is defined as the length L ₁ . The length from the end point P _E to the contact point C ₂ on the side of the start point P _{S of the} virtual circle is defined as the length L ₂ . The angle with respect to the line connecting the origin (x ₀ , y ₀ ) of the imaginary circle and the contact point C ₂ is the angle θ (radian). The length of the arc from the contact point C ₁ to the contact point C ₂ in the virtual circle is L _v =rθ. In this case, the cable length L can be expressed as L=L ₁ +L _v +L ₂ . Further, the distance D ₁ =the cable length L. The virtual figure calculation unit 13 calculates a virtual circle that satisfies such a relationship.

Next, the trajectory calculation unit 14 calculates a winding trajectory around the virtual circle. The winding path is a path around which the cable 50 is wound so that the fulcrum P _F and the support point of the work hand 41 are the shortest with respect to the virtual figure that is in contact with the line connecting the fulcrum P _F and the start point P _S. An involute curve can be used for the calculation. The involute curve can be expressed by the following equation (1). The origin (x ₀ , y ₀ ) is the center of the virtual circle. Moreover, the involute curve is represented by a broken line in FIG.

In this case, the trajectory of the support point of the work hand 41 can be expressed by the following equation (2). In the following equation (2), t(θ) is a tangent vector from the support point of the work hand 41 to the virtual circle. The trajectory represented by the following formula (2) represents a winding trajectory around a virtual circle. The posture of the work hand 41 in the middle of the orbit is made to coincide with the tangential direction to the virtual circle. That is, the posture of the work hand 41 is set so that the cable 50 does not bend near the support point of the work hand 41.

FIG. 10 is a diagram illustrating a flowchart showing an example of the operation of the robot system 100. As illustrated in FIG. 10, the operator inputs to the information input unit 12 a fulcrum P _F , a start point P _S , an end point P _{E of} the cable 50, a natural length between the first portion and the second portion of the cable 50, The allowable curvature of the virtual circle and the like are input (step S1). Next, the virtual figure calculation unit 13 calculates the position and radius r of the virtual circle based on the information input in step S1 (step S2).

Next, the virtual figure calculation unit 13 determines whether the curvature of the virtual circle calculated in step S2 is within the allowable curvature (step S3). When it is determined to be “No” in step S3, the execution of the flowchart ends. When it is determined to be “Yes” in step S3, the trajectory calculation unit 14 calculates the trajectory wrapped around the virtual circle (step S4). Next, the program generation unit 15 generates a robot program of the movements of the support robot 30 and the work robot 40 so that the work hand 41 realizes the movement trajectory calculated by the trajectory calculation unit 14, and outputs it to the control device 20. Yes (step S5). Thereby, the control device 20 controls the operations of the support robot 30 and the work robot 40 according to the robot program (step S6).

In the winding path around the virtual circle, the distance between the fulcrum P _F of the support hand 31 and the support point of the work hand 41 gradually decreases from the start point P _S to the end point P _E. In this case, the distance between the fulcrum P _F of the support hand 31 and the support point of the work hand 41 is suppressed from exceeding the natural length between the first location and the second location of the cable 50. Thereby, breakage of the cable 50 can be suppressed. Further, when the distance between the fulcrum P _F of the supporting hand 31 and the supporting point of the work hand 41 gradually decreases, the bending is dispersed without being concentrated around the fulcrum P _F. Specifically, the bent shape of the cable 50 becomes an arc of a virtual circle or becomes close to the arc. Thereby, breakage of the cable 50 can be suppressed. Further, since the reduction ratio of the distance between the fulcrum P _F of the supporting hand 31 and the support point of the working hand 41 is lowered, slack in the cable 50 can be suppressed at the beginning to move the work hand 41. As a result, winding around the assembled component is suppressed. From the above, the success rate of cable forming is improved.

(Modification 1)
The convex virtual figure is not limited to a circle. For example, an ellipse may be used as the convex shape. FIG. 11 is a diagram illustrating a winding trajectory when an ellipse is used as a convex virtual figure. As illustrated in FIG. 11, the radius r gradually changes in the arc from the contact point C ₁ to the contact point C ₂ . The winding trajectory is calculated by substituting this into the above equation (2). Also in this case, the distance between the fulcrum P _F of the support hand 31 and the support point of the work hand 41 gradually decreases in the trajectory wound around the virtual ellipse. When the virtual ellipse is used, the maximum curvature of the virtual ellipse is set to the allowable curvature or less.

In this case, from the start point P _S to the end point P _E , the distance between the fulcrum P _F of the support hand 31 and the support point of the work hand 41 exceeds the natural length between the first portion and the second portion of the cable 50. Is suppressed. Thereby, breakage of the cable 50 can be suppressed. Further, when the distance between the fulcrum P _F of the supporting hand 31 and the supporting point of the work hand 41 gradually decreases, the bending is dispersed without being concentrated around the fulcrum P _F. Specifically, the bent shape of the cable 50 is close to the arc of the virtual ellipse. Thereby, breakage of the cable 50 can be suppressed. Further, since the reduction ratio of the distance between the fulcrum P _F of the supporting hand 31 and the support point of the working hand 41 is lowered, slack in the cable 50 can be suppressed at the beginning to move the work hand 41. As a result, winding around the assembled component is suppressed. From the above, the success rate of cable forming is improved.

(Modification 2)
Next, an example of using a hexagon as the convex virtual figure will be described. FIG. 12 is a diagram illustrating a winding orbit when a hexagon is used as a convex virtual figure. In the example of FIG. 12, any vertex T ₁ of the virtual hexagon is arranged on the line connecting the fulcrum P _F of the supporting hand 31 and the starting point P _S of the supporting point of the working hand 41. In this case, the support point of the work hand 41 draws an arc with the line segment connecting the support point and the vertex T ₁ as the radius r ₁ . After the line segment contacts one side of the virtual hexagon, the support point of the work hand 41 forms a line segment connecting the other vertex T ₂ of the one side and the support point with a radius r ₂ (<r ₁ ). Draw an arc as.

As described above, in the example of FIG. 12, the radius of the circular arc trajectory becomes small on the way. Also in this case, the distance between the fulcrum P _F of the supporting hand 31 and the supporting point of the working hand 41 gradually decreases in the winding path around the virtual hexagon. Also in this case, the distance between the fulcrum P _F of the support hand 31 and the support point of the work hand 41 is suppressed from exceeding the natural length between the first location and the second location of the cable 50. Thereby, breakage of the cable 50 can be suppressed. Further, when the distance between the fulcrum P _F of the supporting hand 31 and the supporting point of the work hand 41 gradually decreases, the bending is dispersed without being concentrated around the fulcrum P _F. Thereby, breakage of the cable 50 can be suppressed. Further, since the reduction ratio of the distance between the fulcrum P _F of the supporting hand 31 and the support point of the working hand 41 is lowered, slack in the cable 50 can be suppressed at the beginning to move the work hand 41. As a result, winding around the assembled component is suppressed. From the above, the success rate of cable forming is improved.

In the present embodiment, the trajectory calculation unit 14 calculates the trajectory of the second location such that the distance between the first location and the second location gradually decreases from the start point P _S to the end point P _E. It functions as an example of a section.

If the trajectory of the support point of the work hand 41 is represented by only a curve, the operation of the work hand 41 becomes complicated. Therefore, the trajectory of the support point of the work hand 41 may be divided into a plurality of straight lines. In the second embodiment, the robot system 100a will be described. The robot system 100a is different from the robot system 100 of FIG. 1 in that the arithmetic device 10a is provided instead of the arithmetic device 10. FIG. 13 is a functional block diagram of the arithmetic device 10a. As illustrated in FIG. 13, the arithmetic device 10a is different from the arithmetic device 10 of FIG. 7 in that a trajectory dividing unit 17 is further provided. The trajectory dividing unit 17 divides the motion trajectory calculated by the trajectory calculating unit 14 into a plurality of straight lines.

FIG. 14 is a diagram showing an example of trajectory division when a virtual circle is used as a convex virtual figure. As illustrated in FIG. 14, the track dividing unit 17 divides the winding track by setting one or more predetermined points in the winding track calculated by the track calculation unit 14. Further, the trajectory dividing unit 17 connects each point with a straight line in order from the start point to generate a linear interpolation trajectory. The posture of the work hand 41 at the division point is made to coincide with the tangential direction to the virtual circle at the division point. That is, the posture of the work hand 41 is set so that the cable 50 does not bend near the support point of the work hand 41. In this case, the distance between the end point and the fulcrum P _F in each straight track is gradually reduced.

FIG. 15 is a diagram illustrating a flowchart showing an example of the operation of the robot system 100a. As illustrated in FIG. 15, the operator inputs to the information input unit 12 a fulcrum of the support hand 31, a start point and an end point of the work hand 41, a natural length between the first and second positions of the cable 50, and a virtual length. The allowable curvature of the circle and the like are input (step S11). Next, the virtual figure calculation unit 13 calculates the position and radius r of the virtual circle based on the information input in step S11 (step S12).

Next, the virtual figure calculation unit 13 determines whether the curvature of the virtual circle calculated in step S12 is within the allowable curvature (step S13). When it is determined as "No" in step S13, the execution of the flowchart ends. When it is determined to be "Yes" in step S13, the trajectory calculation unit 14 calculates the trajectory wrapped around the virtual circle (step S14).

Next, the track dividing unit 17 divides the winding track by setting one or more predetermined points in the winding track (step S15). Next, the trajectory dividing unit 17 generates a linear interpolation trajectory by connecting each point with a straight line in order from the start point (step S16). Next, the program generation unit 15 generates a robot program of the operation of the support robot 30 and the work robot 40 so that the work hand 41 realizes the linear interpolation trajectory calculated by the trajectory dividing unit 17, and the control device 20 is controlled. Output (step S17). Thereby, the control device 20 controls the operations of the support robot 30 and the work robot 40 according to the robot program (step S18).

In this embodiment, in each linear interpolation trajectory, there is a portion where the distance between the fulcrum of the support hand 31 and the support point of the work hand 41 is partially large. However, the fulcrum of the support hand 31 and the support point of the work hand 41 are Is less than the distance D ₁ . In this case, the distance between the fulcrum of the support hand 31 and the support point of the work hand 41 is suppressed from exceeding the natural length between the first location and the second location of the cable 50. Thereby, breakage of the cable can be suppressed. In addition, the bending is not concentrated around the fulcrum P _F but is dispersed. Specifically, the bent shape of the cable 50 is close to the arc of a virtual circle. Thereby, breakage of the cable 50 can be suppressed. Further, since the distance decreasing rate becomes low and the supporting point of the supporting point P _F and work hand 41 of the supporting hand 31 as compared with the case of generating the linear interpolation trajectory connecting the start and end points, the movement of the work hand 41 The slack of the cable at the beginning of the operation is suppressed. As a result, winding around the assembled component is suppressed. From the above, the success rate of cable forming is improved.

The present embodiment can also be applied to other convex virtual figures such as virtual ellipse and virtual hexagon.

In the present embodiment, the trajectory calculation unit 14 calculates the trajectory of the second location such that the distance between the first location and the second location gradually decreases from the start point P _S to the end point P _E. It functions as an example of a section. The trajectory division unit 17 functions as an example of a generation unit that sets one or more predetermined points in the middle of the trajectory calculated by the calculation unit and connects each point in order from the start point of the trajectory to generate a linear interpolation trajectory.

(Other examples)
FIG. 16A is a block diagram for explaining the hardware configuration of the arithmetic units 10 and 10a. As illustrated in FIG. 16A, the arithmetic devices 10 and 10a include a CPU 101, a RAM 102, a storage device 103, a display device 104, and the like. A CPU (Central Processing Unit) 101 is a central processing unit.

The CPU 101 includes one or more cores. A RAM (Random Access Memory) 102 is a volatile memory that temporarily stores a program executed by the CPU 101, data processed by the CPU 101, and the like. The storage device 103 is a non-volatile storage device. As the storage device 103, for example, a ROM (Read Only Memory), a solid state drive (SSD) such as a flash memory, a hard disk driven by a hard disk drive, or the like can be used. The storage device 103 stores a program. The display device 104 is a liquid crystal display, an electroluminescence panel, or the like, and displays the determination result. In the present embodiment, each unit of the arithmetic units 10 and 10a is realized by executing a program, but hardware such as a dedicated circuit may be used.

FIG. 16B is a diagram illustrating another example of the robot system. In each of the above examples, the robot program created by the arithmetic units 10 and 10a is given to the control unit 20. On the other hand, the server 202 having the functions of the arithmetic devices 10 and 10a may transmit the robot program to the control device 20 through the electric communication line 201 such as the Internet.

In addition, in each of the above examples, the support hand 31 of the support robot 30 fixedly supports one end of the cable 50, but the support hand 31 does not necessarily have to be supported by the robot. Further, the angle formed by the tangent line of the start point P _S and the virtual circle and the tangent line of the virtual circle with the end point P _E does not have to be a right angle. For example, the angle formed by the tangent line of the start point P _S and the imaginary circle to the tangent line of the imaginary circle to the end point P _E may be 60° or less than 90° or 120° or more than 90°. Good.

Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the specific embodiments, and various modifications and alterations are possible within the scope of the gist of the present invention described in the claims. It can be changed.

10 arithmetic device 11 model storage unit 12 information input unit 13 virtual figure calculation unit 14 trajectory calculation unit 15 program generation unit 16 output unit 17 trajectory division unit 20 control device 30 support robot 31 support hand 40 work robot 41 work hand 50 cable 100 robot system

Claims (7)

In a forming in which the shape of the flexible object is changed by moving the second location relative to the first location while supporting the second location of the flexible article in which the first location is supported,
To reach from the start point to the end point of the movement, the first location and Ri the distance between the second points gradually decreases, to a virtual circle or virtual elliptical contact with the line connecting the said starting point and said first location An arithmetic unit comprising a calculation unit that calculates a trajectory of the second location so as to include an involute curve of a winding trajectory and a tangent vector from the second location to the virtual circle or the virtual ellipse . The curvature or maximum curvature of the virtual ellipse virtual circle arithmetic unit according to claim 1, wherein a is equal to or smaller than the allowable radius of curvature of the flexible object. The calculation unit sets the one or more predetermined points in the middle of the calculated trajectory, according to claim 1, characterized in that it comprises a generator for generating a linear interpolation trajectory by connecting the points from a starting point of the track in order or The arithmetic unit according to 2 . The arithmetic unit according to any one of claims 1 to 3 ,
A robot system, comprising: a robot that supports the second portion so as to draw the trajectory calculated by the arithmetic device. A robot that performs forming that changes the shape of the flexible object by moving the second location relative to the first location while supporting the second location of the flexible article having the first location supported. Prepare,
The robot, before reaching the end point from the start point of the movement, the first location and Ri the distance between the second points gradually decreases, the virtual circle in contact with the line connecting the said starting point and said first point or A robot characterized in that the second location moves so as to draw a trajectory so as to include an involute curve of a trajectory wound around a virtual ellipse and a tangent vector from the second location to the virtual circle or the virtual ellipse. system. In a forming in which the shape of the flexible object is changed by moving the second location relative to the first location while supporting the second location of the flexible article in which the first location is supported,
To reach from the start point to the end point of the movement, the first location and Ri the distance between the second points gradually decreases, to a virtual circle or virtual elliptical contact with the line connecting the said starting point and said first location A calculation method , wherein the calculation unit calculates the trajectory of the second location so as to include the involute curve of the winding trajectory and the tangent vector from the second location to the virtual circle or the virtual ellipse . In a forming in which the shape of the flexible object is changed by moving the second location relative to the first location while supporting the second location of the flexible article in which the first location is supported,
The computer, the from the start of the movement up to the end point, the first point and the distance between the second points Ri is gradually reduced, the virtual circle or virtual contact with the line connecting said start point and said first location A process of calculating a trajectory of the second location is executed so as to include an involute curve of an orbit around the ellipse and a tangent vector from the second location to the virtual circle or the virtual ellipse. Calculation program.

Images