JP7210201B2 - Information processing method, program, recording medium, information processing device, robot system, article manufacturing method - Google Patents

Description

The present invention relates to a trajectory generation method, a trajectory generation apparatus, and a robot system for generating trajectories for moving a plurality of robot arms between start teaching points and target teaching points.

In a production line that manufactures articles such as automobiles and electrical products, multiple robot arms are introduced to automate work such as welding and assembly. In such a production system, multiple robotic arms may be placed so close together that they overlap. Traditionally, teaching work for multiple robots that are close to each other has been done by having the instructor actually move each robot step by step while adjusting the trajectory of each robot to prevent interference between the robots. The execution timing between orbits was taught by trial and error.

However, such trial-and-error teaching work by a teacher makes it difficult to operate multiple robots reliably and efficiently, and it takes considerable skill to create practical robot trajectories. There is a problem of need. For example, in an environment where product types change frequently, the tutor will have to redo all the teaching work each time the product type changes, which increases the man-hours required for startup and significantly reduces productivity. . Moreover, if the number of man-hours required for the teaching work increases, the increase in personnel costs becomes a problem.

Therefore, in recent years, instead of direct teaching by a teacher, methods and devices have been proposed that use computers to improve the efficiency of teaching work and motion control of a plurality of robots.

For example, Patent Literature 1 below discloses a control device that avoids interference between a plurality of robots, minimizes the waiting time of the robots, and operates the robots efficiently. In the robot control device of Patent Document 1, an interference table is created for the work points of two robots and the paths between the work points. Using this interference table, it can be seen that when the robot arms A and B are positioned at respective work points, interference occurs when the robot arms A and B work simultaneously. If there is a possibility that such arms will interfere with each other, priority is given to the work of one of the robot arms. Data for controlling this priority order is generated as a priority order table. In this case, for example, the priority order is determined according to the sum of the remaining work time of each robot and the waiting time at the work point.

Further, in Non-Patent Document 1 below, in order to avoid interference between robots, a plurality of robot arms A and B are regarded as one robot arm C to generate a path. FIGS. 7(a) to (g) show movements of robot arm A and robot arm B controlled by the technique of Non-Patent Document 1. These robots have two joints (two degrees of freedom) and two axes. is a robot with Among them, the robot arm A has a biaxial joint angle (θas1, θas2) as a starting point and a biaxial joint angle (θag1, θag2) as a target point. On the other hand, the robot arm B has biaxial joint angles (θbs1, θbs2) as a starting point and biaxial joint angles (θbg1, θbg2) as a target point. Also, in this example, an obstacle Ob is installed in the work spaces of the robot arms A and B. FIG.

In the technique of Non-Patent Document 1, the robot arms A and B are treated as one robot arm C in order to generate a path that takes into consideration the interference between robots and the avoidance of interference with obstacles. Then, in the four-dimensional configuration space of the robot arm C, a route avoiding obstacles is searched from the starting points (θas1, θas2, θbs1, θbs2) to the target points (θag1, θag2, sθbg1, θbg2). A route generation algorithm such as RRT (Rapidly-exploring Random Tree) or PRM (Probabilistic Road Map Method) is used for route generation. In this way, by treating the first and second robot arms as one virtual robot arm and performing path generation, as shown in FIGS. can be determined respectively.

JP-A-11-347984

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

In the control of Patent Document 1, at each work point where there is a possibility of interference between two robots, the robot with the higher priority is moved to the work point, the work is performed first, and the work is completed. Move the robot with the lower priority to the work point and put the work on hold. However, for example, if the low-priority robot waits at the previous work point until the high-priority robot finishes its work and moves to the next work point, work efficiency may decrease. For example, considering the movement time required for a low-priority robot to enter the interference area, there is a possibility that the low-priority robot can start moving even if the high-priority robot has not left the interference area. be. Furthermore, in that case, there is a possibility that the low-priority robot can be moved faster by, for example, correcting the trajectory of the low-priority robot. The technique of Patent Literature 1 does not consider such efficiency improvement. That is, in the technique of Patent Document 1, there is still ample room for shortening the overall work time, but the trajectory for simultaneous movement of the dual-arm robots to avoid interference is not taken into account. There is a problem that cannot be dealt with above.

On the other hand, the method disclosed in Non-Patent Document 1 treats a dual-arm robot as one robot, generates paths using a path generation algorithm, moves the robots simultaneously, and avoids interference. Algorithms such as RRT (Rapidly-exploring Random Tree) and PRM (Probabilistic Road Map Method) are used for this route generation.

In Non-Patent Document 1, the first and second robot arms are regarded as virtual robot arms, and the posture of this virtual robot arm is treated as one point in the configuration space. Therefore, according to the control of Non-Patent Document 1, the timings of the movements of the first and second robot arms are the same. However, if the first and second robot arms are controlled to operate at the same timing, for example, if one arm moves only slightly and the other moves greatly, the former arm will affect the latter arm. It is expected that the entire operation will be slowed down unnecessarily.

For example, in the examples of FIGS. 7(a) to (g), the robot arm A, which has a smaller amount of movement, may be able to reach the target point (FIG. 7(g)) first. A favorable case is conceivable. However, according to the method of Non-Patent Document 1, since the first and second robot arms are treated as virtual robot arms, the first and second robot arms are controlled to reach the target point at the same timing. I have to. Therefore, according to the method of Non-Patent Document 1, if there is variation in the amount of movement among a plurality of robots, there is a possibility that useless movement restrictions will occur. Also, with the method of treating the first and second robot arms as virtual robot arms as in Non-Patent Document 1, there is a possibility that the following robot motions cannot be controlled. These are, for example, motions in which the first and second robot arms approach the same place, motions in which the second robot arm begins to move while the first robot arm is moving. Further, in the control method of Non-Patent Document 1, it is not possible to perform an operation in which the first robot arm reaches the target point first and starts other operations in advance. That is, according to the method of Non-Patent Document 1, there is a possibility that efficiency improvement that minimizes the work time of a plurality of robots cannot be pursued, and the motions that can be generated are limited.

Therefore, in view of the above problems, the present invention provides an optimum trajectory that can efficiently operate a plurality of robot arms without causing interference between robot arms or interference between robot arms and obstacles in the work space. to be able to generate

In order to solve the above problems, in one aspect of the present invention, a first trajectory that moves a first robot between a first position and a second position , and/or a second robot different from the first robot, In the information processing method for updating a second trajectory that is operated between a third position and a fourth position, when updating the first trajectory, the first position, the second position, and from the first position changing the first time information at at least one of the first intermediate positions through which the first robot passes up to the second position, updating the first trajectory, and updating the second trajectory the second time information at at least one of the third position, the fourth position, and a second intermediate position through which the second robot passes between the third position and the fourth position. updating the second trajectory by changing the first robot to at least one of the first position, the second position, and the first intermediate position when updating the first trajectory and/or the second trajectory; A position is updated on the condition that the second robot reaches at least one of the third position, the fourth position, and the second intermediate position. A characteristic information processing method was adopted.

According to the above configuration, it is possible to generate an optimum trajectory that can efficiently operate a plurality of robot arms without causing interference between the robot arms or interference between the robot arms and obstacles in the work space. can.

1 is an explanatory diagram showing a schematic configuration of a trajectory generation device according to an embodiment of the present invention; FIG. FIG. 4 is an explanatory diagram showing teaching point groups of a plurality of robot arms and obstacles according to the embodiment of the present invention; FIG. 4 is an explanatory diagram showing teaching point groups and trajectories of a plurality of robot arms according to the embodiment of the present invention; It is a flow chart figure explaining track generation concerning an embodiment of the present invention. (a) to (d) are explanatory diagrams showing how trajectories are generated according to the embodiment of the present invention. (a) to (d) are explanatory diagrams showing how different trajectories are generated according to the embodiment of the present invention. (a) to (g) are explanatory diagrams showing a conventional trajectory control technique. 1 is a block diagram showing a schematic configuration of a control device applicable to an embodiment of the invention; FIG. It is an explanatory view showing a robot device that can be arranged in the production system according to the embodiment of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings. The configuration shown below is merely an example, and, for example, details of the configuration can be changed as appropriate by those skilled in the art without departing from the spirit of the present invention. Further, the numerical values taken up in the present embodiment are reference numerical values and do not limit the present invention.

FIG. 1 is a diagram showing the configuration of a trajectory generation device according to an embodiment of the present invention. This trajectory generating device includes an arithmetic processing unit 1 including a CPU, etc., an operation unit 2 for inputting data by a teacher, etc., a recording unit 3 for recording operation programs, etc., and a display of the trajectories of robot stations and robots. It has a display unit 4 for performing.

FIG. 2 shows an example of an arrangement for operating the robot arms A and B in a work space in which an obstacle Ob is arranged. In FIG. 2, teaching points PA1, PA2 and PA3 of robot arm A and teaching points PB1, PB2 and PB3 of robot arm B are given. In the trajectory generation of this embodiment, a trajectory passing through these teaching points is generated. In that case, a trajectory is generated such that the robot arms A and B do not interfere with each other, and neither of the robot arms A or B interferes with the obstacle Ob.

The trajectory generation process of this embodiment will be described assuming that the robot arms A and B are two-degree-of-freedom robot arms that move mainly in the X and Y directions of the task space. However, the robot according to the present invention may be generally recognized as a device that performs automatic work. is not to be construed in a limited manner. For example, the present invention can be implemented in a robot system using a 6-axis multi-joint robot or a direct-acting robot as illustrated in FIG. 9, which will be described later.

In the case of such a multi-joint robot having two or more degrees of freedom of joints, the teaching point of the robot can be determined by the position and posture of the hand or the joint axis angle. Also, in this embodiment, an example in which two robot arms operate is shown, but the present invention is not limited by the number of robot arms. The present invention can also be implemented in a configuration in which the robot arm moves.

In FIG. 2, it is assumed that robot arm A avoids interference with obstacle Ob and robot arm B and moves in order of teaching points PA1, PA2, and PA3. Further, it is assumed that the robot arm B avoids interference with the obstacle Ob and the robot arm A and moves in order of the teaching points PB1, PB2, and PB3.

At the teaching point PA2 and the teaching point PB2, the robot arm A and the robot arm B are at a position where they interfere with each other, but the robot arm A reaches the teaching point PA2 before the robot arm B reaches the teaching point PB2. as a constraint. This is called an operation constraint in this embodiment. This motion restriction assumes that robot arm A transports a workpiece, places the workpiece at PA2, and robot arm B receives the workpiece at PB2.

FIG. 3 shows intermediate points arranged between teaching points for trajectory evaluation and the path of the robot in the environment of FIG. In the present embodiment, an example in which three intermediate points are arranged between two teaching points corresponding to the start position and the target position will be described for the sake of simplicity. is not limited by

In this specification, the "path" of a robot means a trajectory along which a specific reference part such as a hand moves, which does not include the concept of time such as speed. In addition, the ``trajectory'' of the robot means an information body having information on the ``path'' and the motion speed of the robot on the ``path''. and are clearly distinguished. In general, the trajectory is often expressed as position command value data for positioning a specific reference portion of the robot for each control cycle. This position command value data is expressed, for example, in a format such as a list of position (angle) data of each joint of the robot for positioning a specific reference part at a specific position (teaching point).

In the example of FIG. 3, the robot arm A uses the teaching point PA1, the intermediate points PA11, PA12, PA13, and the teaching point PA2 as control points, and passes along a route TA1 that is smoothly interpolated with a curved line, from the teaching point PA1 to the teaching point PA2. move to After that, the robot arm A uses the teaching point PA2, the intermediate points PA21, PA22, PA23, and the teaching point PA3 as control points, and passes along a route TA2 smoothly interpolated with a curved line to reach the teaching point PA3 from the teaching point PA2.

On the other hand, the robot arm B uses the teaching point PB1, the intermediate points PB11, PB12, PB13, and the teaching point PB2 as control points, and moves from the teaching point PB1 to the teaching point PB2 along a route TB1 that is smoothly interpolated with curved lines. . After that, the robot arm B uses the teaching point PB2, the intermediate points PB21, PB22, PB23, and the teaching point PB3 as control points, and reaches the teaching point PB3 from the teaching point PB2 through a route TB2 smoothly interpolated with a curved line.

Well-known interpolation methods such as Spline interpolation, B-Spline interpolation, and Bezier curve interpolation are known as methods of smoothly interpolating a curve passing through a predetermined portion of the arm between teaching points (or intermediate points). By using these interpolation methods to generate a route that smoothly connects teaching points, it is possible to realize smooth motion of the robot. Although FIG. 3 shows the robot arm passing through the intermediate point, the intermediate point is merely a parameter for generating a path, and the robot arm does not necessarily pass through the intermediate point. Absent. For example, in the case of a trajectory interpolated by B-Spline interpolation, the route may not pass through intermediate points.

Also, there is shortest time control as a method for generating a trajectory including speed information for a robot path generated using teaching points and intermediate points. In the trajectory creation process described later, if the shortest time control is used, the trajectory with the shortest operation time can be obtained based on the path generated by the above interpolation method within the range of physical limitations of the robot. Note that the shortest time control in the present embodiment is to obtain the moving speed that takes the shortest time while traveling on a predetermined route, and does not change the route.

Further, physical constraints to be satisfied by robot motions include, for example, torque constraints, joint angular velocity constraints, joint angular acceleration constraints, jerk constraints, hand speed constraints, and acceleration constraints. The trajectory generated using the shortest time control is the robot position command value for each control cycle. However, trajectory generation using a cam curve may be performed without using the shortest time control.

Further, in this embodiment, the robot waits for a certain time for each teaching point, and this time is called waiting time (however, this embodiment does not exclude control in which the waiting time is 0). . In this embodiment, the robot arm A waits WA1 seconds at the teaching point PA1 and waits WA2 seconds at the teaching point PA2. Also, the teaching point PA3 is the end point, and the waiting time is not defined because the waiting time continues after the end of the operation. Further, it is assumed that the robot arm B waits for WB1 seconds at the teaching point PB1 and waits for WB2 seconds at the teaching point PB2. Also, as in the case of the robot arm A, the teaching point PB3 is the end point, and after the end of the operation it continues to wait, so the waiting time is not defined.

In FIG. 3, when the robot arms A and B each start moving along the paths TA1, TA2, TB1 and TB2 without waiting, the robot arms A and B interfere with each other at the teaching points PA2 and PB2, for example. It is conceivable that

Here, for example, it is decided that the robot arm B should reach the position of the teaching point PB2 after the robot arm A reaches the teaching point PA2 according to the work contents. In that case, for example, if the appropriate waiting times (WB1, WB2) for the robot arm B to wait at the teaching points PB1, PB2 can be set, interference between the robot arm models can be avoided. Also, in order for the robot arm A to reach the teaching point PA2 before the robot arm B reaches the teaching point PB2, it is necessary to set the waiting time WB2 larger (longer) than the waiting time WB1.

In the example of FIG. 3 (or FIG. 5, which will be described later), a trajectory is generated that passes through the respective teaching points without interference between the arms and between the robot and the obstacle. In addition, an operation of the robot arms A and B in which the robot arm A reaches the teaching point PA2 before the robot arm B reaches the teaching point PB2 is generated.

Here, FIG. 8 shows a configuration example of the trajectory generation device, particularly the control system 1000 corresponding to the main part of the arithmetic processing unit 1 (FIG. 1). As shown in the figure, the control system 1000 is composed of blocks arranged around a CPU 1601 . It should be noted that the configuration composed of blocks arranged around the CPU 1601 can be applied almost similarly to, for example, a robot control device (200A, 200B: FIG. 9 to be described later).

A control system 1000 in FIG. 8 includes a CPU 1601 as main control means, a ROM 1602 as a storage device, and a RAM 1603 . The ROM 1602 can store a control program for the CPU 1601 and constant information for realizing a control procedure to be described later. Also, the RAM 1603 is used as a work area for the CPU 1601 when executing a control procedure to be described later.

When the configuration of FIG. 8 is the arithmetic processing unit 1 (FIG. 1), for example, the display 1608 (display unit 4 in FIG. 1) and the operation unit 1609 (operation unit 2 in FIG. 1) are interface devices as user interface devices. 1607. The operation unit 1609 can be composed of, for example, a full keyboard and pointing device, and constitutes a user interface for an operator who performs trajectory simulation and verification.

The control system 1000 of FIG. 8 includes a network interface 1605 as communication means for communicating via the network NW. Arithmetic processing unit 1 (FIG. 1) can communicate with actual robot arms 1001A and 1001B (or their robot controllers 200A and 200B (FIG. 9)) via network interface 1605 to network NW. In that case, it is possible to transmit and receive control information such as teaching point data and trajectory data. In that case, the network interface 1605 is configured with a communication standard for wired communication such as IEEE 802.3 and wireless communication such as IEEE 802.11 and 802.15. However, the network NW may, of course, employ any other communication standard.

Note that the control program of the CPU 1601 for realizing the control procedure described later can also be stored in an external storage device 1604 such as an HDD or SSD, or a storage unit such as the ROM 1602 (for example, an EEPROM area). In that case, the control program of the CPU 1601 for realizing the control procedure described later can be supplied to each of the above-described storage units via the network interface 1605 and updated to a new (different) program. Alternatively, the control program of the CPU 1601 for realizing the control procedure described later is supplied to each of the above-described storage units via storage means such as various magnetic disks, optical disks, and flash memories, and drive devices therefor, Also, its contents can be updated. Various storage means and storage units in which the control program of the CPU 1601 for realizing the above-described control procedure is stored constitute a computer-readable recording medium storing the control procedure of the present invention.

In FIG. 8, in the case of the robot control devices 200A and 200B (FIG. 9), the interface 1606 is a driver circuit for driving the motors, solenoids, etc. (not shown) of each part of the robot arms 1001A and 1001B (same). connected to In the case of the robot controllers 200A and 200B (FIG. 9), the user interface consisting of the display 1608 and the operation unit 1609 may be replaced with an operation terminal such as the teaching pendants 204A and 204B (same).

In this embodiment, when generating a trajectory for moving the robot arm between the start teaching point and the target teaching point, the trajectory (motion information) generated between the start teaching point and the target teaching point is used to move the robot arm. Evaluate the motion and calculate the evaluation value of the trajectory (evaluation step). In the trial process or the update process, the position in the trajectory and the waiting time for waiting the robot arm at that position are changed by giving an appropriate amount of change to generate, for example, a plurality of new trajectories. For this new trajectory, the evaluation process is executed, and the process of selecting a trajectory with a good evaluation value in the evaluation process (selection process) is repeated.

FIG. 4 shows the flow of trajectory generation processing according to this embodiment. 5(a) to (d) show the paths and trajectories of the robot arm corresponding to the control of each step in FIG. Hereinafter, processing for generating the trajectory of the robot according to this embodiment will be described with reference to FIGS. 4 and 5. FIG.

In step S100 of FIG. 4, a robot arm model simulating the robot arms A and B in the work space (FIG. 5(a)) where the robot arms A and B work, physical constraint conditions, motion constraint conditions, and each teaching point are input. do. Robot arm models corresponding to the robot arms A and B are operated in a virtual space simulating the work space to generate or optimize the trajectory. In the following description of the trajectory generation process and its optimization process, for the sake of simplification, the robot arm model and the obstacle model in the virtual space are also treated as if they were the motions of the (actual) robot arm and the obstacle. It can be described as

As shown in FIG. 5A, the configuration and The arrangement is similar to that shown in FIG.

The robot arm models of the robot arm A and the robot arm B are design information of parts constituting the robot. The robot arm models of robot arm A and robot arm B are represented by polygon information, moment of inertia, mass, position, orientation, number of axes, and the like. In addition, the physical constraints that make up the robot arm model define the physical constraints of the robot arm. There are restrictions.

Further, as described above, the motion constraint is a constraint related to the sequential relationship of motion such that the robot arm A reaches the teaching point PA2 before the robot arm B reaches the teaching point PB2. This operation constraint condition is, for example, the convenience of the manufacturing process of a specific article, such as the robot arm A having to perform a specific work at the teaching point PA2 before the robot arm B reaches the teaching point PB2. determined by

In steps S101 and S102 of FIG. 4, provisional intermediate points (first intermediate point group) are generated, and provisional standby times (first standby time group) is initialized (initialization step).

At step S101, provisional intermediate points (first intermediate point group) are generated between the teaching points given at step S100. This provisional intermediate point (first intermediate point group) is moved so that an optimal trajectory can be generated by applying displacement according to the evaluation results of multiple sets of new intermediate points (second intermediate point group) described later. Let

In this embodiment, the number of intermediate points to be generated as intermediate points (first and second intermediate point groups) is three between teaching points. As shown in FIG. 5B, provisional intermediate points PA11, PA12, and PA13 (first intermediate point group) are set between the taught points PA1 and PA2, and between the taught points PA2 and PA3, Temporary intermediate points PA21, PA22, PA23 (first intermediate point group) are arranged. Between the taught points PB1 and PB2, provisional intermediate points PB11, PB12, and PB13 (first group of intermediate points) are provided, and between the taught points PB2 and PB3, provisional intermediate points PB21, PB22, Generate PB23 (first intermediate point group).

As a method of generating the provisional waypoints in step S101, it is conceivable to use a route planning algorithm that calculates a route avoiding obstacles. Well-known methods such as the potential method, PRM (Probabilistic Road Map), RRT (Rapidly-exploring Random Tree), and the like can be used for this route generation method. Also, other route planning algorithms such as the visible graph method, the cell division method, the Voronoi diagram method, etc. can be applied without being limited to the above route planning algorithms. Alternatively, a method of simply linearly interpolating between taught points to generate intermediate points may be used without using a route planning algorithm.

In this embodiment, a provisional waiting time (first waiting time group) for waiting the arm at a provisional intermediate point (first intermediate point group) is defined, and the intermediate point (first intermediate point group) and optimize the corresponding wait times (first group of wait times). In that case, a temporary waiting time (first waiting time group) is given a displacement, a new waiting time (second waiting time group) described later is generated, and a new intermediate point (second intermediate point group) is evaluated with In step S102, for each temporary intermediate point (first intermediate point group), temporary standby times WA1, WA2, WB1, and WB2 (first standby time group) for waiting the arm at that position are initialized to 0. do.

In step S103, the temporary intermediate points PA11 to PA13, PA21 to PA23, PB11 to PB13, PB21 to PB23 (first intermediate point group) are respectively displaced, and new intermediate points (second intermediate point group ) is calculated. Moreover, each of the provisional waiting times WA1, WA2, WB1, and WB2 (first waiting time group) is varied to calculate a new waiting time (second waiting time group).

Here, as a method of varying the waiting time, for example, a method of independently adding a random value to each of the provisional waiting time and the provisional intermediate point is used. Alternatively, a technique may be used in which a random value generated using a multivariate normal distribution is added in conjunction with the provisional waiting time and provisional midpoint parameters. The range of the random number value for changing the position in the trajectory or the waiting time is controlled so as to narrow, for example, as the number of repetitions of the trial process or update process for repeating new trajectory generation and evaluation increases. be able to. That is, as the number of repetitions of the trial process or update process increases, the amount of displacement given to each of the intermediate points of the first intermediate point group and each of the waiting times of the first waiting time group, for example, is reduced. can be controlled. Such control can be performed by setting the range of random number values and variance values through the setting process for the random number generation subroutine that generates random numbers for changing the position in the track or the waiting time. By the above control, the accuracy of the updated and generated trajectory can be improved, and the processing can be successfully converged.

In step S104, using the new waiting time (second waiting time group) and the new intermediate point (second intermediate point group), motion information (trajectory) of the robot arm including time information is created. (trajectory creation process). For example, for each robot arm, a path between teaching points is generated by curve interpolation using new intermediate points, and a trajectory is generated using shortest time control. After that, a position command value for each robot is generated for each control cycle from the new waiting time and trajectory. The command value during standby is a position command value obtained by duplicating the position of the teaching point to be standby for the standby time. Next, the command values of robot arm A and robot arm B are combined into one, and an information body of motion information indicating the position command values of robot arm A and robot arm B at each time is generated. This information body of operation information is represented by a structure such as table data on a memory such as the RAM 1603 and the external storage device 1604 (FIG. 8). This motion information can be considered as control information for controlling not only the route but also the "trajectory" including waiting time. Therefore, hereinafter, this motion information may be described together with the parenthesis of "(trajectory)".

In step S105, based on the motion information (trajectory), it is determined whether or not the above-described motion constraints are satisfied. The "constraint" in step S105 is not a physical constraint imposed by the shortest time control technique used in step S104, but a constraint condition related to the context of the operation that the robot arm A reaches the teaching point PA2.

In step S106, a new waiting time (second waiting time group), a new intermediate point (second intermediate point group), and a set of motion information (trajectory) generated based thereon are saved (generating step).

In step S107, a predetermined number N of sets of saved new waiting times (second waiting time group), new intermediate points (second intermediate point group), and corresponding motion information (trajectories) are obtained. determine whether or not If the number of sets stored here is not N, the process returns to step S103, and if the number is N, the process proceeds to step S108. That is, in the present embodiment, a plurality of sets of a predetermined number N of new waiting times (second waiting time group), new intermediate points (second intermediate point group), and corresponding motion information (trajectories) are prepared. pcs, generate and store. A predetermined storage area of the RAM 1603 or the external storage device 1604 (FIG. 8) is used as the storage destination.

In this embodiment, for ease of explanation, a new waiting time (second waiting time group) to be generated and saved, a new intermediate point (second intermediate point group), and corresponding motion information (trajectory ) is set to N=2. FIGS. 5B and 5C show examples of new intermediate points (second intermediate point group) and trajectories generated based on the corresponding motion information when N=2. In FIGS. 5B and 5C, the new waiting times (second waiting time group) at the intermediate points (first intermediate point group) taught points PA1, PA2, PB1, and PB2 in the first set are They are WA11, WA21, WB11, and WB21, respectively. Further, new intermediate points (second intermediate point group) between taught points PA1 and PA2 obtained by displacing the intermediate point (first intermediate point group) are PA111, PA121, and PA131, and between taught points PA2 and PA3. The new intermediate points (second intermediate point group) of are PA211, PA221, and PA231. Further, the new intermediate points (second intermediate point group) between the teaching points PB1 and PB2 are PB111, PB121 and PB131, the new intermediate points (second intermediate point group) between the teaching points PB2 and PB3 are PB211, They are PB221 and PB231.

Similarly, the new waiting times (second waiting time group) at the teaching points PA1, PA2, PB1, and PB2 of the second set are WA12, WA22, WB12, and WB22, respectively. Further, new intermediate points (second intermediate point group) between taught points PA1 and PA2 obtained by displacing the intermediate points (first intermediate point group) are PA112, PA122, and PA132, and between taught points PA2 and PA3. The new intermediate points (second intermediate point group) of are PA212, PA222, and PA232. Further, the new intermediate points (second intermediate point group) between the teaching points PB1 and PB2 are PB112, PB122 and PB132, the new intermediate points (second intermediate point group) between the teaching points PB2 and PB3 are PB212, They are PB222 and PB232.

In step S108 of FIG. 4, an evaluation value is assigned to each of the stored N sets of new standby times, new intermediate points, and sets of motion information (evaluation step). This evaluation is based on operational information. In this embodiment, in order to avoid interference between the robot arm and other objects, it is determined based on the amount of interference. This interference between a robot arm and another object corresponds to, for example, interference between a plurality of robot arm models or between a robot arm model and an obstacle model. In this embodiment, for example, an interference time during which a robot arm (model) and another object interfere (occupy the same space) is used as an evaluation value. Collision determination is performed from polygon information included in the robot model. Also, instead of the interfering time, a mutual penetration amount (for example, interference distance) between a certain robot arm and an obstacle (or another robot) may be used as an evaluation value. However, the evaluation criteria for the motion information (trajectory) are not particularly limited to the above evaluation criteria, and may be different from the above evaluation criteria.

In step S109, a provisional waiting time (first waiting time group), a provisional intermediate point (first intermediate point Point cloud) is displaced and moved. As a method for moving the provisional waiting time (first waiting time group) and the provisional intermediate point (first intermediate point group), the following method is used. For example, among a set of new waiting time (second waiting time group), new intermediate point (second intermediate point group), and corresponding motion information (trajectory), the new The temporary first group of waiting times and the first group of intermediate points are moved to the new intermediate point. Alternatively, a new waiting time (second waiting time group), a new intermediate point (second intermediate point group), a weighted average weighted by the evaluation value of the corresponding operation information set, and the temporary waiting time (First waiting time group), a method of moving a provisional intermediate point (first intermediate point group) may be used.

FIG. 5D shows, as an example, a new waiting time (second waiting time group) for the second set with a good evaluation value, a new intermediate point (second intermediate point group), and a temporary standby An example is shown in which time (first waiting time group) and temporary intermediate points (first intermediate point group) are moved.

A generation process, a trajectory creation process, and an evaluation process, which are composed of steps S103 to S109, are repeatedly executed (trial process). A condition for exiting from this loop (trial process) is determined in step S110 of FIG.

In step S110, it is determined whether or not a condition for terminating the processing of the loop (trial process) formed from steps S103 to S109 is satisfied. If the termination condition is not satisfied, the process returns to step S103, and if the termination condition is satisfied, the process proceeds to step S111 to repeat the processing of the loop (trial step).

The purpose of this embodiment is to avoid interference between the robot and obstacles. Therefore, the termination condition determined in step S110 is, for example, that the minimum evaluation value in N sets of new standby time, new intermediate point, and motion information is 0.

In step S111, a temporary waiting time (first waiting time group) and a temporary intermediate point (first intermediate point group) are used to generate trajectories for moving the robot arms A and B (trajectory generating step ).

As described above, according to the present embodiment, while restricting the order in which a plurality of robot arms reach teaching points, a trajectory that can avoid interference between the robot arms and interference between the robot arms and an obstacle can be achieved. can be generated. Also, in creating a trajectory for evaluation, it is possible to consider controls such as operational restrictions, physical restrictions, and shortest time control. Therefore, it is possible to generate a trajectory that is suitable for the work process, does not cause mechanical problems, and efficiently moves a plurality of robot arms.

<Embodiment 2>
In the above-described first embodiment, an optimization technique for generating a trajectory that can avoid interference between robot arms and interference between a robot arm and an obstacle without deviating from restrictions on the order in which teaching points are reached will be mainly described. bottom. In the second embodiment, a plurality of robot arms operate in the shortest trajectory while avoiding interference between the robot arms and interference between the robot arms and obstacles without deviating from restrictions on the order in which the robot arms reach teaching points. intended to generate

The hardware configuration of the robot system is equivalent to that of the first embodiment, and the main steps of the motion generation method according to this embodiment conform to the flowchart of FIG. 4 of the first embodiment. However, the second embodiment differs from the first embodiment in the configuration of the initial value of the provisional waiting time, the initial value of the provisional intermediate point, the motion restriction method, the motion evaluation method, and the termination condition.

In the second embodiment, the processing shown in FIG. 4 is performed, and a provisional waiting time (first waiting time group) and a provisional intermediate point (first intermediate point group) that satisfy the termination condition are used again. , the process of partially modifying FIG. 4 is performed as follows to generate an optimized trajectory.

In the partially modified process of FIG. 4, first, the process of FIG. 4 of the first embodiment, which is performed first in the initialization process, is different. In the first embodiment, at step S101 in FIG. 4, provisional intermediate points (first intermediate point group) are generated based on the route planning technique, and provisional waiting times (first waiting time group) are generated at step S102. Initialized to 0. On the other hand, in step S102 of the present embodiment, the provisional waiting time (first waiting time group) converged and generated in steps S110 to S111 of FIG. ). Therefore, step S111 in FIG. 4 of the first embodiment of the first pass of the process is changed so as not to immediately generate the trajectory.

As described above, in the present embodiment, the provisional waiting time (first waiting time group) and the provisional middle point (first middle point group) that satisfy the termination condition in the processing of the first embodiment are used as initial values. . From this, provisional waiting times (first waiting time group) and provisional intermediate points (first intermediate point group) that are known to avoid interference between robots and between robots and obstacles are set. As a starting point, a trajectory optimization process can be performed that reduces the operating time.

Further, in the process of FIG. 4 of the first embodiment, when determining whether the trajectory satisfies the constraint in step S105, the robot arm A reaches the teaching point PA2 before the robot arm B reaches the teaching point PB2. I was trying to determine if I would reach it. In contrast, in the second embodiment, it is further determined whether or not the robot arms interfere with each other and between the robot arms and an obstacle. If the robot arms interfere with each other or the robot arm and the obstacle interfere with each other, the new standby time and the new intermediate point are invalidated, and the process returns to step S103 in FIG.

Further, in the first embodiment, in step S108 of FIG. 4, the operation is evaluated using the interference time or the amount of penetration as an evaluation value. On the other hand, in the second embodiment, the time required for a plurality of robot arms, that is, the robot arms A and B to complete all motions defined by given teaching points, is used as an evaluation value. By generating such evaluation values, it is possible to generate a provisional waiting time (first waiting time group) and a provisional intermediate point (first intermediate point group) that minimize the process work time.

In the first embodiment, the termination condition in step S110 of FIG. 4 is that the minimum evaluation value among the N sets of new waiting time, new intermediate point, and operation information becomes 0. . On the other hand, in the second embodiment, the termination condition of step S110 is that the number of repetitions of steps S103 to S109 (trial process) reaches a predetermined number of times, or the number of times the evaluation value does not change continuously. It is assumed that the predetermined number of times is reached. As a result, it is possible to cope with the situation where the trial process does not converge and diverge, and in the trial process, the provisional waiting time (first waiting time group) and the provisional intermediate point (first intermediate point group) ) is converging.

In the second embodiment, in step S111, a trajectory is generated using provisional waiting times (first waiting time group) and provisional intermediate points (first intermediate point group). However, the history of changes in the provisional waiting time (first waiting time group) and the provisional intermediate point (first intermediate point group) in repeating steps S103 to S109 (trial process) is saved, and the most A good first set of latencies and a set of waypoints may be used for trajectory generation. For example, the temporary standby time (first standby time group) that obtained the best (for example, the shortest operating time) evaluation value in the stored history, and the temporary intermediate point (first intermediate point cloud) is used for trajectory generation.

As described above, in the second embodiment, the provisional waiting time (first waiting time group) and the provisional middle point (first middle point) that satisfy the termination condition in the processing of FIG. 4 of the first embodiment. group) is used to perform the partially modified process of FIG. 4 again as described above. By optimizing the 2-pass configuration, all the constraints of avoiding the order of arrival of multiple robot arms to target teaching points, interference between robot arms, and interference between robot arms and obstacles were observed. Above, a trajectory that minimizes the motion time can be generated.

In the above, after the optimization (first embodiment) using the amount of interference related to interference avoidance as an evaluation value, the required time until all the motions defined by the teaching points given to the plurality of robot arms are completed. is used as an evaluation value (second embodiment). However, trajectory generation using the evaluation value for the time required to complete all motions defined by the given teaching points for a plurality of robot arms is performed independently when it is not necessary to consider interference avoidance. I don't mind.

Further, as shown in the second embodiment, trajectory generation or optimization can be performed in a plurality of passes using different evaluation values. That is, when trajectory generation or optimization is performed in a plurality of passes using different evaluation values, the present invention is not limited by the number of trajectory generation or optimization control passes. For example, if there are a plurality of evaluation values to be used for trajectory evaluation, for example, in a path configuration of three or more, a provisional waiting time (first waiting time group) and a provisional intermediate point (first intermediate point) that satisfy the termination condition (first intermediate point). group) can be controlled to acquire one after another.

In this case, a plurality of trial steps for executing the initialization step, the generation step, the trajectory creation step, and the evaluation step are prepared, and evaluation values different from each other are generated in the evaluation steps of each pass. . In the multi-pass evaluation process, different evaluation values are used to set a provisional waiting time (first waiting time group) and a provisional intermediate point (first intermediate point group) that satisfy the termination condition of the evaluation process. It is used as initial values for wait times and midpoints in subsequent pass initialization steps. Then, a trajectory is generated using a provisional waiting time (first waiting time group) and a provisional intermediate point (first intermediate point group) that satisfy the termination condition of the evaluation process of the last pass.

<Embodiment 3>
In Embodiments 1 and 2, trajectory generation in a two-robot arm configuration or its optimization control has been mainly described. In the robot system of Embodiment 3, in addition to the robot arms A and B, a configuration in which a robot arm C is arranged in the work space is illustrated. The object of the present embodiment is, of course, to generate a trajectory that allows these robot arms to move through their teaching points without interfering with each other and between the robot arm and the obstacle. In this case, in the present embodiment, regarding the operations of robot arm A, robot arm B, and robot arm C, the constraint that robot arm A reaches teaching point PA2 before robot arm B reaches teaching point PB2 is Adopted.

Also in the third embodiment, the main steps of the trajectory generation process conform to the flowchart of FIG. 6(a)-(d) also illustrate the control of the main steps of FIG. In this embodiment, as shown in FIG. 6A, a robot arm C and teaching points PC1 and PC2 of the robot arm C are newly added to the first embodiment.

With respect to the robot arm C, teaching points PC1 and PC2 are given, and a trajectory moving from the teaching point PC1 to the teaching point PC2 is generated. In that case, naturally, a trajectory is generated so that the robot can operate without interfering with obstacles and other robots. In addition, the robot arm C is not restricted in the sequential relationship between the robot arm A and the robot arm B in terms of movement.

Even in such a configuration, the optimum trajectories of the robot arms A, B, and C can be generated by the same processing as in FIG. 4 of the first embodiment. In that case, first, in step S100 of FIG. 4, corresponding to the configuration shown in FIG. PC1 and PC2 are input. However, in this embodiment, the robot arm C does not have motion constraints regarding the context of motion with other robots.

In step S101 of FIG. 4, in addition to the first embodiment, initial values of temporary intermediate points PC11, PC12, and PC13 (first intermediate point group) of the robot arm C are generated (FIG. 6(b)). Further, in step S102, in addition to the robot arms A and B of the first embodiment, the initial value of the provisional standby time WC1 (first standby time group) is initialized to 0 for the robot arm C as well.

Further, in steps S103 to S107 of FIG. 4, as in the first embodiment, a new waiting time (second waiting time group) and a new intermediate point (second intermediate point group) are generated for the robot arm C as well. do. At this time, as in the first embodiment, the set of new waiting times and new intermediate points that do not satisfy the operation constraint conditions is discarded, and new waiting times (second waiting time group) and new intermediate points that satisfy the operating conditions are discarded. Two (N=2) sets of points (second intermediate point cloud) are computed.

FIG. 6(c) shows an example of a route corresponding to the new intermediate points (second intermediate point group). Here, in addition to the first set, new waiting times (second waiting time group) at the teaching points PC1 and PC2 of the first set are set to WC11 and WC21, respectively. Further, PC111, PC121, and PC131 are generated as new intermediate points (second intermediate point group) between the teaching points PC1 and PC2. Similarly, new waiting times (second waiting time group) at the teaching points PC1 and PC2 of the second set are set to WC12 and WC22, respectively. Also, PC112, PC122, and PC132 are generated as new intermediate points (second intermediate point group) between the teaching points PC1 and PC2.

In step S108 of FIG. 4, motion information (trajectory) is generated from new waiting times (second waiting time group) and new intermediate points (second intermediate point group) of the robot arms A, B, and C, An evaluation value is calculated based on the time during which the robot arms interfere with each other and between the robot arms and the obstacle.

In step S109, as in the first embodiment, two sets (N=2) of new waiting times (second waiting time group), new intermediate points (second intermediate point group), and corresponding motion information ( Based on the evaluation result of the evaluation value of the trajectory), the provisional first waiting time group and the first intermediate point group are moved. In the example of FIG. 6(d), the second set of new waiting time (second waiting time group) and a new intermediate point (second intermediate point group) are adopted, and there is a provisional waiting time (second 1 standby time group), and a temporary intermediate point (first intermediate point group) is moved.

In step S110 of FIG. 4, as in the first embodiment, it is determined whether or not the termination condition for terminating the trial process (steps S103 to S109) is satisfied. Then, if the abort condition is satisfied, in step S111, as in the first embodiment, a provisional standby time (first standby time group) and a provisional midpoint (first intermediate point) satisfying the abort condition are provided. group) is used to generate the trajectories of the robot arms A, B, C.

As described above, according to the third embodiment, it is possible to avoid interference between the three robot arms and interference between the robot arms and an obstacle while restricting the order in which the three robot arms reach the teaching point. trajectory can be generated. Also, in creating a trajectory for evaluation, it is possible to consider controls such as operational restrictions, physical restrictions, and shortest time control. Therefore, it is possible to generate a trajectory that is suitable for the work process, does not cause mechanical problems, and efficiently moves a plurality of robot arms.

In the third embodiment, the robot arm C is added to the first embodiment, and an optimization example is shown in which motion generation is performed for the purpose of avoiding interference. However, the control of the second embodiment can also be implemented in a three-armed robot system. That is, the provisional waiting time (first waiting time group) and the provisional intermediate point (first intermediate point group) that satisfy the termination condition acquired in the processing (first pass) of the third embodiment are used for initialization. The control of the second embodiment is implemented. As a result, using the evaluation value as the operation time, it is possible to generate an operation with the optimum operation time while avoiding interference. As described above, the trajectory generation and its optimization control according to the present invention can generate trajectories of robot arms without limiting the number of robot arms or the evaluation index.

<Configuration of robot system>
Here, a specific configuration example of a multi-arm robot system controlled by the robot trajectory generated according to each of the above embodiments and a configuration when this robot system is applied to a production system will be shown.

FIG. 9 shows a more specific configuration example of the robot arms A and B in more detail than the schematic FIG. In FIG. 9, robot arms 1001A and 1001B correspond to the above-described robot arms A and B, respectively, and have, for example, a 6-axis (joint) vertical multi-joint configuration. Each joint of these robot arms 1001A and 1001B can be controlled to a desired position and orientation by servo-controlling a servomotor that drives each joint.

Tools such as hands 202A and 200B are attached to the tips (tips) of the robot arms 1001A and 1001B, respectively. Robot arms 1001A and 1001B can perform production work such as gripping works 203A and 203B with hands 202A and 202B and assembling and processing these works. The workpieces 203A and 203B are, for example, parts of industrial products such as automobiles, electronic equipment, and electric products. Robot arms 1001A and 1001B can be arranged in a production system (production line) as production devices.

The operations of the robot arms 1001A and 1001B are controlled by robot controllers 200A and 200B (robot controllers), respectively. The operations of the robot arms 1001A and 1001B can also be programmed (teached) by an operation terminal 204 (for example, a teaching pendant) connected to the robot controllers 200A and 200B. For example, by sequentially designating teaching points using the operation terminal 204, it is possible to program an operation to move specific parts of the robot arms 1001A and 1001B (for example, TCP: tool mounting surface at the tip of the arm) along a desired trajectory.

In addition, the robot arms 1001A and 1001B and the robot controllers 200A and 200B receive optimized intermediate teaching points or trajectory data from the trajectory generator (robot simulator in FIG. 1) via the network NW. be able to. As a result, the robot arms 1001A and 1001B can be arranged as production devices in a production system (production line) and operated with the optimized intermediate teaching points or trajectory data, and an article can be manufactured by each arm.

The present invention supplies a program that implements one or more functions of the above-described embodiments to a system or device via a network or storage medium, and one or more processors in the computer of the system or device read and execute the program. processing is also feasible. It can also be implemented by a circuit (for example, ASIC) that implements one or more functions.

DESCRIPTION OF SYMBOLS 1... Arithmetic processing part, 2... Operation part, 3... Recording part, 4... Display part, A to C, 1001A, 1001B... Robot arm, 1601... CPU, 1602... ROM, 1603... RAM, 1604... External storage device, NW... network, Ob... obstacle, PA1, PA2, PA3... (first) taught point group, PB1, PB2, PB3... (first) intermediate point group, PAnn, PAnn... (second) intermediate point Group, PBnn, PBnnn... (second) intermediate point group.

Claims (32)

A first trajectory that moves a first robot between a first position and a second position and/or a second robot that moves a second robot that is different from the first robot between a third position and a fourth position. In an information processing method for updating a trajectory ,
When updating the first trajectory, at least one of the first position, the second position, and a first intermediate position through which the first robot passes between the first position and the second position. updating the first trajectory by changing the first time information in
When updating the second trajectory, at least one of the third position, the fourth position, and a second intermediate position between the third position and the fourth position through which the second robot passes. updating the second trajectory by changing the second time information in
When updating the first trajectory and/or the second trajectory, the first robot is at least one of the first position, the second position, and the first intermediate position, and the second robot is at the first position. update on the condition that at least one of the three positions, the fourth position, and the second intermediate position is reached before it is reached;
An information processing method characterized by: In the information processing method according to claim 1 ,
the first time information is a first stop time of the first robot;
wherein the second time information is a second stop time of the second robot;
An information processing method characterized by: In the information processing method according to claim 2 ,
the first stop time is a time during which the first robot remains stopped at at least one of the first position, the second position, and the first intermediate position;
The second stop time is a time during which the second robot remains stopped at at least one of the third position, the fourth position, and the second intermediate position.
An information processing method characterized by: In the information processing method according to claim 2 or 3 ,
updating the first trajectory and/or the second trajectory by using a random value for the first time information or the second time information;
An information processing method characterized by: In the information processing method according to claim 4 ,
The random values are generated using a multivariate normal distribution;
An information processing method characterized by: In the information processing method according to claim 4 or 5 ,
the range of the random values becomes smaller as the number of acquisitions of the first trajectory or the second trajectory increases;
An information processing method characterized by: In the information processing method according to any one of claims 4 to 6 ,
The random value is a displacement amount given when changing the first time information and /or the second time information,
An information processing method characterized by: In the information processing method according to any one of claims 1 to 7 ,
When updating the first trajectory and /or the second trajectory, the first robot and the second robot do not interfere with each other.
An information processing method characterized by: In the information processing method according to any one of claims 1 to 8 ,
evaluating the updated first trajectory and /or the second trajectory based on a predetermined condition;
updating the first trajectory and/or the second trajectory based on the evaluation;
An information processing method characterized by: In the information processing method according to claim 9 ,
performing the evaluation based on the amount of interference between the first robot, the second robot , and surrounding objects;
An information processing method characterized by: In the information processing method according to claim 10,
The first trajectory and/or the second trajectory are updated by changing the first intermediate position, the second intermediate position, the first time information, and the second time information so that the interference amount becomes small. do
An information processing method characterized by: In the information processing method according to claim 11 ,
When the interference amount becomes 0, discontinue updating the first trajectory and/or the second trajectory ;
An information processing method characterized by: In the information processing method according to any one of claims 10 to 12,
The amount of interference is an interference time or an interference distance in which the first robot and the second robot, or the first robot and the surrounding object, or the second robot and the surrounding object occupy the same space. ,
An information processing method characterized by: In the information processing method according to claim 9 ,
performing the evaluation based on the required time between the operation performed by the first robot according to the first trajectory and the operation performed by the second robot according to the second trajectory;
An information processing method characterized by: In the information processing method according to claim 1-4 ,
updating the first trajectory and/or the second trajectory by changing the first intermediate position, the second intermediate position, the first time information, and the second time information so that the required time becomes shorter; ,
An information processing method characterized by: In the information processing method according to claims 1 to 5 ,
Aborting updating of the first trajectory and/or the second trajectory if the duration satisfies a predetermined criterion;
An information processing method characterized by: In the information processing method according to claim 1 to 6 ,
The predetermined criterion is when the required time is determined to be the shortest time,
An information processing method characterized by: In the information processing method according to claim 1-1 or 1-5 ,
Amount of change when changing the first intermediate position, the second intermediate position, the first time information, and the second time information as the number of updates of the first trajectory and/or the second trajectory increases. to be smaller,
An information processing method characterized by: In the information processing method according to claim 9 or 1-1 or 1-5 ,
When the number of updates of the first trajectory and/or the second trajectory reaches a predetermined number of times, or the number of times the evaluation value does not continuously change in the evaluation of the first trajectory and/or the second trajectory reaches a predetermined number of times. if so, abort updating the first trajectory and/or the second trajectory ;
An information processing method characterized by: In the information processing method according to any one of claims 1 to 19 ,
In updating the first trajectory and the second trajectory, by curve interpolation based on the first position, the second position, the third position, the fourth position, the first intermediate position, and the second intermediate position update ,
An information processing method characterized by: In the information processing method according to claim 20,
The curve interpolation is at least one of Spline interpolation, B-Spline interpolation, and Bezier curve interpolation.
An information processing method characterized by: In the information processing method according to any one of claims 1 to 21,
In updating the first trajectory and the second trajectory, at least joint torque constraint, joint angular velocity constraint, joint angular acceleration constraint, jerk constraint, hand velocity constraint, or hand acceleration constraint for the first robot and the second robot get to meet one,
An information processing method characterized by: A first trajectory that moves a first robot between a first position and a second position and/or a second robot that moves a second robot that is different from the first robot between a third position and a fourth position. In the information processing device that updates the trajectory ,
When updating the first trajectory, at least one of the first position, the second position, and a first intermediate position through which the first robot passes between the first position and the second position. updating the first trajectory by changing the first time information in
When updating the second trajectory, at least one of the third position, the fourth position, and a second intermediate position between the third position and the fourth position through which the second robot passes. updating the second trajectory by changing the second time information in
When updating the first trajectory and/or the second trajectory, the first robot is at least one of the first position, the second position, and the first intermediate position, and the second robot is at the first position. update on the condition that at least one of the three positions, the fourth position, and the second intermediate position is reached before it is reached;
An information processing device characterized by: A robot system comprising the information processing device according to claim 2 or 3 , the first robot , and the second robot . 25. A method of manufacturing an article, wherein the article is manufactured using the robot system according to claim 24 . In an information processing device that updates a trajectory for operating a robot between a first position and a second position,
The trajectory is updated by changing time information at at least one of the first position, the second position, and an intermediate position through which the robot passes between the first position and the second position. ,
A method of changing the time information can be set,
An information processing device characterized by: In an information processing device that updates a trajectory for operating a robot between a first position and a second position,
The trajectory is updated by changing time information at at least one of the first position, the second position, and an intermediate position through which the robot passes between the first position and the second position. ,
A method of changing the time information can be set,
An information processing method characterized by: In an information processing device that updates a trajectory for operating a robot between a first position and a second position,
The trajectory is updated by changing time information at at least one of the first position, the second position, and an intermediate position through which the robot passes between the first position and the second position. can set the initial value of the time information when
as the time information, a stop time for maintaining the robot at least one of the first position, the second position, and the intermediate position can be set;
The stop time can be set to each of the first position, the second position, and the intermediate position.
An information processing device characterized by: In the information processing device according to claim 28,
the stop time includes 0 seconds;
An information processing device characterized by: In an information processing method for updating a trajectory for operating a robot between a first position and a second position,
The trajectory is updated by changing time information at at least one of the first position, the second position, and an intermediate position through which the robot passes between the first position and the second position. can set the initial value of the time information when
as the time information, a stop time for maintaining the robot at least one of the first position, the second position, and the intermediate position can be set;
The stop time can be set to each of the first position, the second position, and the intermediate position.
An information processing method characterized by: A program capable of executing the information processing method according to any one of claims 1 to 22, the information processing method according to claim 27, or the information processing method according to claim 30 . A computer-readable recording medium storing the program according to claim 31 .

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