JP7447568B2 - Simulation equipment and programs - Google Patents

Description

The present disclosure relates to a simulation device and a program for estimating the behavior of equipment.

Simulation using computers is applied to various technical fields. As an example of using such simulation for factory automation (FA), for example, Japanese Patent Laid-Open No. 2019-36014 (Patent Document 1) describes a method for pre-designing a control program that controls the movement of a machine. Disclose the simulation.

JP 2019-36014 Publication

FA is equipped with an industrial robot that has multiple joints. By executing the robot control program, each joint operates in conjunction with the movement of the corresponding axis, and as a result, the robot transports or processes the workpiece. When designing the control program, the movable range of each axis was set to a predetermined value. Depending on the position and posture that the robot can take, the range of motion may excessively restrict the movement of the joints at the set predetermined values, i.e., act to restrict the movement of transporting or processing the workpiece. There was a possibility that the range was not appropriate. Therefore, it has been desired to provide an environment in which the movable range of each axis of the robot can be individually set, but the simulation of Patent Document 1 does not provide such an environment.

One object of the present disclosure is to provide a configuration that can simulate the behavior of equipment based on a movable range set for each axis.

A simulation device according to this disclosure is a simulation device that estimates the behavior of a device having a plurality of joints, and the device includes a plurality of axes, each of which corresponds to a joint of the device, and each of the devices corresponds to a plurality of axes. The joints of the axis operate in conjunction with the movement of the axis, and the simulation device operates based on direct teaching information to the device, which includes the range of motion of one or more of the multiple axes. The device includes a first simulator that performs a simulation to calculate the behavior of an object placed in a virtual space corresponding to the device, and an image generation unit that generates an image that visualizes the virtual space.

According to the above-mentioned disclosure, the behavior of the device can be simulated based on the movable range set for each axis based on the information of direct teaching to the device.

In the above disclosure, the first simulator further includes a range changing unit that changes the movable range of each one or more axes, and the first simulator further corresponds to the device based on the changed movable range of each axis. A simulation is performed to calculate the behavior of objects placed in virtual space.

According to the above disclosure, the simulation device can repeat the simulation while changing the movable range of the axis set by the user.

In the above disclosure, an object different from the object corresponding to the device is arranged in the virtual space, the different object includes an object corresponding to the peripheral device of the device, and the behavior of the object corresponding to the device is based on the object. including the position in the virtual space, and the range changing unit changes the movable range of each one or more axes when the relative relationship between the positions of the object corresponding to the device and a different object in the virtual space indicates a specific positional relationship. change.

According to the above disclosure, when the relative relationship between the positions of each object in the virtual space indicates a specific positional relationship, the simulation device changes the movable range of each selected axis, and changes the movable range after the change. The simulation can be performed again based on the

In the above disclosure, an object different from an object corresponding to the device is placed in the virtual space, and the different object includes an object placed in the virtual space corresponding to a cable attached to the device, and a virtual object corresponding to the device is arranged in the virtual space. The apparatus further includes a second simulator that calculates the behavior of an object placed in the virtual space corresponding to the cable, based on the behavior of the object placed in the space, using parameters related to the attachment of the cable.

According to the above disclosure, the simulation device can calculate the behavior of the object placed in the virtual space corresponding to the cable attached to the device, based on the behavior of the object placed in the virtual space corresponding to the device.

In the above disclosure, the simulation device calculates the load applied to the target based on the behavior of the target corresponding to the cable calculated by the second simulator, and the range changing unit determines that the calculated load satisfies a predetermined condition. When changing the range of motion of each one or more axes.

According to the above disclosure, when the load applied to the object corresponding to the cable based on the behavior of the object satisfies a predetermined condition, the simulation device changes the movable range of each one or more axes, and changes the movable range after the change. The simulation can be performed again based on the

In the above disclosure, the direct teaching information includes information on the movable range of one or more axes associated with the teaching point indicating the position and orientation that the device should take, and the first simulator further The behavior of the object placed in the virtual space corresponding to the device is calculated based on the position and orientation and the movable range of each one or more axes associated with the teaching point.

According to the above disclosure, the behavior of an object placed in the virtual space corresponding to the device is simulated based on the position and orientation indicated by the teaching point and the movable range of each one or more axes associated with the teaching point. can.

In the above disclosure, the movable range is indicated using an upper limit value and a lower limit value, and the controller that controls the equipment using the movable range is provided with one or more of the values used by the first simulator to calculate the behavior of the equipment. The apparatus further includes a transfer unit that transmits data indicating a movable range of the axis.

According to the above disclosure, the controller can control the equipment based on the appropriate movable range of each axis, which is the simulation result transferred from the simulation device.

A program according to this disclosure is a program for causing a computer to execute a method for estimating the behavior of a device having a plurality of joints, the device having a plurality of axes each corresponding to a joint of the device. , the joints corresponding to each of the plurality of axes move in conjunction with the movement of the axis, and the method is information for direct teaching to the device, and the method includes direct teaching information for the device to determine the range of motion of one or more axes from among the plurality of axes. The method includes the steps of performing a simulation to calculate the behavior of an object placed in a virtual space corresponding to the device based on the included information, and generating an image visualizing the virtual space.

According to the above-mentioned disclosure, when the program is executed, the behavior of the device can be simulated based on the movable range set for each axis based on the information of direct teaching to the device.

According to the present disclosure, it is possible to provide a configuration that simulates the behavior of a device based on a movable range set for each axis.

FIG. 1 is a schematic diagram showing an application example of the simulation device 1 according to the present embodiment. FIG. 1 is a diagram schematically showing an example of a robot and peripheral devices in a production line according to the present embodiment. FIG. 1 is a schematic diagram showing an example of a hardware configuration for realizing a simulation device 1 according to the present embodiment. FIG. 1 is a schematic diagram showing an example of a functional configuration for realizing a simulation device 1 according to the present embodiment. FIG. 3 is a diagram schematically showing an example of the movable range of each axis of the robot 30 according to the embodiment. 7 is a diagram showing an example of teaching point data 184 and position/orientation data 187 according to the embodiment. FIG. FIG. 3 is a diagram schematically showing an example of a UI screen for setting a movable range according to an embodiment. FIG. 3 is a diagram schematically showing an example of movable range data 185 according to the embodiment. FIG. 3 is a diagram schematically showing an example of confirmation item data 186 according to the embodiment. FIG. 3 is a diagram showing an example of a flowchart of processing executed in the simulation device 1 according to the embodiment. FIG. 3 is a diagram showing an example of a flowchart of processing executed in the simulation device 1 according to the embodiment. FIG. 2 is a diagram schematically showing an aspect of simulation according to an embodiment. FIG. 2 is a diagram schematically showing an aspect of simulation according to an embodiment. It is a figure which shows typically an example of the change of the movable range concerning embodiment. FIG. 3 is a diagram illustrating an example of displaying simulation results according to the embodiment. 16 is a diagram showing an example of another image displayed in area 1200 of FIG. 15. FIG. FIG. 1 is a diagram schematically showing the configuration of a teaching pendant according to an embodiment. FIG. 3 is a diagram schematically showing a direct teaching scene according to the embodiment. It is a flowchart which shows the processing procedure of direct teaching concerning embodiment. 7 is a flowchart illustrating a processing procedure for acquiring position and orientation data 187 according to the embodiment. FIG. 2 is a schematic diagram showing an example of a hardware configuration of a PLC 200 according to an embodiment. FIG. 3 is a diagram schematically showing an example of data transfer according to the embodiment.

Each embodiment will be described below with reference to the drawings. In the following description, the same parts and components are given the same reference numerals. Their names and functions are also the same. Therefore, detailed explanations thereof will not be repeated.

<A. Application example＞
First, an example of a scene to which the present invention is applied will be described. The simulation device 1 according to the present embodiment is typically applicable to an application that controls the operation of a robot, which is an example of a device that transports or processes a workpiece. Furthermore, the simulation device 1 can comprehensively simulate the behavior of equipment for a system that includes a robot and one or more equipment that operates in connection with transporting or processing a workpiece.

In this embodiment, a robot, which is an example of a device, includes a plurality of joints and an axis corresponding to each joint. Each joint operates in conjunction with the movement of the corresponding axis.

Furthermore, among the robot's movements, transport of a workpiece, for example, will be explained as a movement to be simulated. "Pick and place" will be explained as an example of transportation. "Pick and place" is a robot-based gripping system in which when the transported workpiece reaches a predetermined tracking area, the robot grasps the workpiece within the tracking area, transports it to the predetermined area, and places the workpiece in the predetermined area.・Represents a series of transportation and placement operations. For transportation, a robot hand equivalent to an "end effector" attached to the tip of a robot arm is used. The robot application to be simulated is not limited to transporting a workpiece, but may be an application for assembling or processing a workpiece.

In this embodiment, the "teaching point" indicates a position and orientation representing the behavior that the robot should take. For example, a robot can transport a workpiece along a target trajectory by sequentially changing its position and orientation according to a plurality of teaching points set corresponding to a target trajectory for pick-and-place.

FIG. 1 is a schematic diagram showing an example of application of the simulation device 1 according to the present embodiment. Referring to FIG. 1, simulation device 1 includes virtual space information 105 that defines a virtual space and objects placed in the virtual space. By calculating the behavior of each object in the virtual space, the contents of the virtual space information 105 are updated as appropriate.

The simulation device 1 performs a simulation using a data group 180 for simulation. The data group 180 includes teaching point data 184, movable range data 185 set corresponding to each of one or more teaching points, confirmation item data 186 indicating items to be confirmed in the simulation results, and position/orientation data 187. include. The teaching point data 184 indicates a plurality of teaching points. The teaching point data 184 indicates, for example, a plurality of teaching points corresponding to the target trajectory of pick and place. The movable range data 185 indicates the movable range of one or more axes, which is set corresponding to each of the axes. The position/orientation data 187 indicates the position/orientation representing the behavior of peripheral devices, cables, and workpieces arranged around the robot on the production line. Examples of peripheral devices include, but are not limited to, a conveyor for transporting a workpiece, a tray for accommodating a workpiece, and various sensors.

The simulation device 1 sets the teaching point data 184 and the movable range data 185 of the data group 180 using the direct teaching information 330. The direct teaching information 330 is direct teaching information for the robot, and the direct teaching information includes a movable range of one or more axes among the plurality of axes that the robot has. The direct teaching information 330 may further include information on the movable range of one or more axes associated with the teaching point indicating the position and orientation that the robot should take.

The simulation device 1 includes a robot simulator 160 that calculates the behavior of a robot that transports a workpiece placed in a virtual space. Robot simulator 160 is an example of a "first simulator." The simulation device 1 includes a visualizer 164 that generates an image that visualizes a virtual space. The visualizer 164 is an example of an "image generation unit".

The robot simulator 160 performs a simulation to calculate the behavior of a target (hereinafter referred to as an object) corresponding to the robot in the virtual space based on the movable range data 185. More specifically, the robot simulator 160 calculates the position and orientation of the object placed in the virtual space corresponding to the robot based on the position and orientation indicated by the teaching point and the movable range of each of one or more axes corresponding to the teaching point. Calculate behavior. Behavior information calculated by the robot simulator 160 is reflected in the virtual space information 105. In this embodiment, reflecting information in the virtual space information 105 means updating the virtual space information 105 by writing the information in the virtual space information 105.

The above movable range is indicated using an upper limit value and a lower limit value. The simulation device 1 transmits the movable range of each one or more axes used by the robot simulator 160 to calculate the behavior of the robot 30 to a programmable logic controller 200 (hereinafter referred to as PLC 200) that controls the robot using the movable range. A transfer tool 400 that transmits data shown is provided. Transfer tool 400 is an example of a "transfer unit."

The PLC 200 receives data indicating the movable range of each one or more axes used in the simulation by the robot simulator 160, and controls the robot using the received data. As a result, the PLC 200 controls the robot so that the movement of each one or more axes used to calculate behavior in the simulation does not exceed the upper and lower limits of the movable range indicated by the received data. Can be done.

The visualizer 164 generates and outputs an image that visualizes the virtual space information 105.

By cooperating with each other, these components and modules make it possible to accurately calculate, or estimate, the behavior of a robot that would occur when a real robot transports a workpiece, even if no real robot exists. Further, this calculation is performed based on the movable range of one or more axes indicated by the direct teaching information 330. Thereby, the simulation device 1 provides an environment in which the behavior of the device can be simulated based on the movable range of each axis set by direct teaching.

A more specific application example of this embodiment will be described below.
<B. Example of control system>
FIG. 2 is a diagram schematically showing an example of a robot and peripheral devices in a production line according to the present embodiment. The simulation device 1 is configured to be able to calculate the behavior of devices including a robot 30 that is an actual device controlled by a programmable logic controller 200 (hereinafter referred to as PLC 200) of a control system 2 provided in an FA production line. be done. Referring to FIG. 2, the simulation device 1 can be implemented in an information processing device 100 configured with a general-purpose computer including, for example, a stationary PC (Personal Computer) or a portable tablet terminal. The device 100 executes a simulation to calculate the behavior of equipment including the robot 30 by executing a predetermined program. The information processing device 100 provides support tools to assist the user in operating the control system 2. The support tools include a simulation execution environment, an environment for designing and executing a control program for the control system 2, a setting tool for preparing a communication environment for the control system 2, and the like. These support tools are provided to the user by, for example, a UI (User Interface).

In FIG. 2, the information processing device 100 is communicably connected to the PLC 200, but the simulation can also be performed without being connected to the PLC 200.

Referring to FIG. 2, control system 2 includes PLC 200, robot controller 310, servo motor drivers 531, 532, and visual sensor 340. PLC 200, robot controller 310, and servo motor drivers 531, 532 are connected in a daisy chain via field network 22. For example, EtherCAT (registered trademark) is adopted as the field network 22. However, the field network 22 is not limited to EtherCAT. The information processing device 100 may be connected to the PLC 200 via a network. This network may employ any communication means, wired or wireless. PLC 200 and information processing device 100 communicate, for example, according to USB (Universal Serial Bus).

The PLC 200 executes the designed control program based on field values including sensor output values from the field network 22, and instructs the robot controller 310 or servo motor drivers 531 and 532 to activate each target according to the execution results. By giving the target value, the robot 30 and equipment related to conveyance by the conveyor 230 are controlled.

Servo motor drivers 531 and 532 drive servo motors 41 and 42 of conveyor 230. Encoders 236 and 238 are arranged on the rotating shafts of the servo motors 41 and 42. The encoder outputs the position (rotation angle), rotation speed, cumulative rotation number, etc. of the servo motors to the PLC 200 as feedback values of the servo motors 41 and 42.

The robot 30 and the conveyor 230 move the workpiece 232 while cooperating with each other. Although the movement of the workpiece 232 will be described here to simplify the explanation, it is not limited to movement. For example, the robot 30 may process the workpiece 232 placed on the tray 9 on the conveyor 230, and may transport the processed workpiece 232 by pick and place.

In this embodiment, as shown in FIG. 2, a vertical multi-joint robot is shown as an example of the multi-joint robot 30, but the robot is not limited to the vertical multi-joint type. In FIG. 2, motors M (hereinafter referred to as "robot servo motors") are provided at joints 1300, 1301, 1302, 1303, 1304, and 1305 for moving axes (not shown) corresponding to each joint of the robot 30. A robot controller 310 that drives a robot servo motor and a robot servo motor are illustrated. Similarly, as an example of a drive device for the conveyor 230, servo motor drivers 531 and 532 that drive the servo motors 41 and 42 provided on the conveyor 230 are illustrated.

The robot controller 310 drives the robot servo motor of the robot 30 according to the target value command from the PLC 200. The axis of the corresponding joint is connected to the rotation axis of each robot servo motor. Furthermore, an encoder (not shown) is arranged on the rotation axis of each robot servo motor. The encoder outputs the amount of rotation such as the position (rotation angle), rotation speed, and cumulative number of rotations of the servo motor to the robot controller 310 as a feedback value of the robot servo motor. The robot controller 310 transmits a field value indicating the amount of rotation from the robot 30 to the PLC 200 as a response to the above command. PLC 200 receives field values, executes a control program based on the received field values, and transmits a command indicating a target value based on the execution result to robot controller 310.

A teaching pendant 300 for directly teaching the robot 30 can be connected to the robot controller 310 .

Servo motor drivers 531 and 532 drive corresponding servo motors 41 and 42 according to commands from PLC 200. The control system 2 further includes a photoelectric sensor 6 and a stopper 8 that can be opened and closed in relation to the conveyor 230. The photoelectric sensor 6 detects that the tray 9 provided on the conveyance surface of the conveyor 230 has arrived in front of a predetermined workpiece tracking area, and transmits the detected value to the PLC 200. The stopper 8 closes in accordance with the command so as to stop (fix) the tray 9 that has reached the tracking area.

A robot hand 210 of a type depending on the process is detachably attached to the robot 30 via the connector 7 . Types of the robot hand 210 include, for example, a parallel hand, a multi-finger hand, a multi-finger joint hand, etc., but are not limited to these, and may also include a type that holds the workpiece 232 by suction, for example.

The robot 30 performs pick and place according to command values received from the PLC 200 via the robot controller 310. Specifically, the robot 30 picks up the workpiece 232 placed on the tray 9 on the conveyor 230 with the robot hand 210, moves the workpiece 232 to the tray 55 at a predetermined position while picking, and places the workpiece on the tray 55. Place 232. The opening/closing operation of the robot hand 210 for picking or placing the workpiece 232 is controlled according to the command.

The simulation device 1 executes a simulation program that calculates the behavior of the robot 30 and a simulation program that calculates the behavior of the cable 341 that is attached to the external surface of the robot 30 and transmits power or signals.

The information processing device 100 can design a control program using the results of such simulation. A control program designed by the information processing device 100 is transmitted (or downloaded) to the PLC 200.

Visual sensor 340 is connected to imaging section 350 . The imaging unit 350 is, for example, a camera, and images objects such as a machine including the robot 30 provided on the production line, equipment including its peripheral devices, and the workpiece 232. The visual sensor 340 includes an image processing section (not shown) for processing the image captured by the imaging section 350, and the image processing section outputs a processed image 351. Image 351 may include a stereoscopic image. The visual sensor 340 and the imaging unit 350 may be integrally configured.

Here, peripheral devices of the robot 30 include a photoelectric sensor 6, a stopper 8, a tray 9, a tray 55, a conveyor 230, etc. as shown in FIG.

<C. Control and virtual space position>
The control of the robot 30 and the behavior of the virtual space will be explained with reference to FIG.

In the robot 30, the joints 1300 to 1305 operate in conjunction with the movement of axes connected to each of the robot servo motors. The arm 306 connected to each joint changes its position and orientation in three-dimensional directions in conjunction with the movement of the axis. The behavior of the robot 30 is realized by such movements of each arm 306.

Similarly, in the conveyor 230, the servo motors 41 and 42 rotate, thereby moving the conveyor 230 and the tray 9 on the conveying surface. The amount of movement (speed, direction, distance, etc. of movement) is determined by the amount of rotation (direction of rotation, angle) of the servo motors 41, 42. By driving the servo motors 41 and 42 in this manner, the behavior of devices such as the conveyor 230 and the tray 9 is realized.

The PLC 200 controls the amount of rotation of each axis of the robot 30 according to a target value that changes over time, and thereby the trajectory, which is the speed of movement of the arm 306 connected to each joint and the change in position and orientation associated with the movement, is The speed and trajectory change according to the target value.

The target value of the robot 30 is stored in the PLC 200 in advance, for example. The robot controller 310 receives a command indicating a target value from the PLC 200, determines the rotation amount of each robot servo motor based on the target value indicated by the received command, and sends a command (voltage or current signal) instructing the determined rotation amount. ) is output to each robot servo motor.

(c1. Coordinate system of virtual space)
An example of the process of calculating the position and orientation in a three-dimensional virtual space of the arm 306 connected to each of the joints 1300 to 1305 of the robot 30 according to the present embodiment will be described. In the simulation of this embodiment, the robot hand 210 and the arm 306 at the tip are treated as an integrated rigid body. Furthermore, in this embodiment, a world coordinate system defined by an X-axis, a Y-axis, and a Z-axis shared by the robot 30, the PLC 200, and the like is exemplified as a coordinate system in a three-dimensional virtual space.

When calculating the behavior of the object corresponding to the robot 30 in the world coordinate system, that is, the position and orientation of the object corresponding to each arm 306, the simulation device 1 calculates, for example, the amount of rotation of the servo motors of the joints 1300 to 1305, respectively. , A, B, C, D, E, F. The simulation device 1 performs calculations using a predetermined function on the rotation amounts (A, B, C, D, E, F) of the servo motors. Thereby, the simulation device 1 calculates a value PA (x, y, z, xα, yβ, zγ) indicating the position and orientation of the arm 306 connected to the joint 1300 at the tip in the virtual space. The simulation device 1 calculates values PA (x, y, z, xα, yβ, zγ) indicating the position and orientation of the arms 306 connected to each of the joints 1301 to 1305 by the same calculation as above. Thereby, the simulation device 1 can calculate the behavior in the virtual space of the object corresponding to each arm 306 of the robot 30, that is, the behavior of the object corresponding to the robot 30. The values PA (x, y, z, xα, yβ, zγ) indicating the behavior described above are the coordinate values (x, y, z) in virtual space as the position, and the X, Y, and Z axes as the posture. It is expressed in combination with the values (xα, yβ, zγ) of roll angle α, pitch angle β, and yaw angle γ, which are acceleration components for .

The simulation device 1 calculates the behavior (position and orientation) of the object corresponding to the robot 30 in the virtual space, and reflects the calculated behavior in the virtual space information 105.

<D. Overall configuration of control system>
Next, an example of the hardware configuration of the simulation device 1 according to the present embodiment will be described.

FIG. 3 is a schematic diagram showing an example of a hardware configuration for realizing the simulation device 1 according to the present embodiment. In this embodiment, the simulation device 1 can be implemented in an information processing device 100 as shown in FIG. 3. Specifically, the simulation device 1 is realized by the processor 102 of the information processing device 100 executing a necessary program.

The information processing device 100 includes, as main components, an OS (Operating System), a processor 102 that executes various programs as described below, and a main memory that provides an area for storing data and a work area necessary for executing the programs. 103, an operation unit 107 that constitutes an "operation reception section" that accepts user operations such as a keyboard and mouse, a display 109, various indicators, an output unit 111 such as a printer, and various networks including a network for communicating with the PLC 200. , an optical drive 113 , a local communication interface 116 for communicating with external devices, and a storage 120 . These components are connected to each other via an internal bus 118 or the like to enable data communication.

The information processing device 100 uses an optical drive 113 to load various programs from a computer-readable storage medium 114 including an optical storage medium (for example, a DVD (Digital Versatile Disc)) that stores computer-readable programs non-temporarily. Alternatively, the data is read and installed in the storage 120 or the like.

Various programs or data executed by the information processing device 100 may be installed via the computer-readable storage medium 114, but may also be downloaded via the network interface 110 from a server device (not shown) on the network. May be installed.

The storage 120 is configured with, for example, an HDD (Hard Disk Drive) or an SSD (Flash Solid State Drive), and stores programs executed by the processor 102. Specifically, the storage 120 includes a physics simulation program 122, a peripheral information setting program 125, a position/orientation acquisition program 127, and a range change program 128 as simulation programs for realizing the simulation according to the present embodiment. , a robot simulation program 130, a transfer program 134, and an integration program 136. The storage 120 also includes an image processing program 133 for outputting simulation results and an evaluation program 135 for evaluating the simulation results. The storage 120 also stores, as simulation data, physical simulation parameters 124, robot parameters 132 including parameters necessary for reproducing the behavior of an object corresponding to the robot 30, and the data group 180 shown in FIG. , and image data 137 for visualizing objects in virtual space.

When executed, the physical simulation program 122 calculates the behavior of the object through physical calculation using the physical simulation parameters 124 . The physical simulation program 122 includes a cable simulation program 131 that calculates the behavior of an object in the virtual space corresponding to the cable 341 and outputs information on the calculated behavior.

When executed, the integration program 136 realizes processing for making the physics simulation program 122, the peripheral information setting program 125, and the robot simulation program 130 cooperate with each other. Specifically, the integration program 136 generates and updates virtual space information 105, typically on the main memory 103, that describes the state of objects in the virtual space. Information indicating the execution results of the physical simulation program 122 , peripheral information setting program 125 , and robot simulation program 130 is received and reflected in the virtual space information 105 . The functions provided by the integrated program 136 reproduce the behavior and processing according to the cooperation between the peripheral device, the robot 30 with the robot hand 210, and the cable 341.

The image processing program 133 uses information indicating the behavior of each object in the virtual space information 105 and image data 137 to generate 3D (three-dimensional) visualization data and outputs it to the display 109. The display 109 is driven according to the drawing data indicated by the 3D visualization data, thereby displaying the behavior of the object in the virtual space as a stereoscopic image. The image data 137 is image data for drawing the object of the robot 30, the object of the peripheral device, the object of the robot hand 210, the object of the cable 341, the object of the workpiece 232, etc. (Computer Aided Design) data.

The evaluation program 135 executes evaluation processing to evaluate the simulation results. Details of the evaluation process will be described later.

Although FIG. 3 shows an example in which the simulation device 1 is implemented using a single information processing device 100, the simulation device 1 may be implemented by linking a plurality of information processing devices. In this case, part of the processing necessary to realize the simulation device 1 may be executed by the information processing device 100, and the remaining processing may be executed by a server (cloud) on the network.

<E. Functional configuration>
Next, an example of the functional configuration of the simulation device 1 according to the present embodiment will be described. FIG. 4 is a schematic diagram showing an example of a functional configuration for realizing the simulation device 1 according to the present embodiment. The functions shown in FIG. 4 are typically realized by the processor 102 of the information processing device 100 executing a program.

Referring to FIG. 4, the simulation device 1 includes, as its functional configuration, a virtual space information management module 150, a cable simulator 154, an evaluation module 155, a robot simulator 160, an information setting module 170, a visualizer 164, It includes a range change module 166, a position and orientation acquisition module 190, and a transfer tool 400.

The virtual space information management module 150 is realized by executing the integrated program 136 (FIG. 3), and the virtual space information 105 defines information such as the position and orientation representing the behavior of each object in the virtual space where the simulation is performed. Manage.

The cable simulator 154 is realized by executing the cable simulation program 131. Specifically, the cable simulator 154 calculates the behavior of the object corresponding to the cable 341 based on the physical simulation parameters 124 according to the information on the behavior of the robot 30, and reflects the information on the calculated behavior in the virtual space information 105. do.

The evaluation module 155 evaluates the simulation results and outputs the evaluation results via the output unit 111 such as the display 109. Specifically, the evaluation module 155 is realized by executing the evaluation program 135. The evaluation module 155 detects the presence or absence of interference between objects based on the information on the behavior of each object indicated by the virtual space information 105 that is the result of the simulation, and also detects the presence or absence of the possibility of damage to the cable 341. Carry out an evaluation. Processing for detecting the presence or absence of interference between objects and the possibility of damage to the cable 341 will be described later.

The robot simulator 160 is realized by executing the robot simulation program 130. The robot simulator 160 calculates the behavior of the object corresponding to each arm 306 arranged in the virtual space corresponding to the robot 30, that is, the behavior of the robot 30, based on the robot parameters 132 and the data of the data group 180. Information on the behavior of the robot 30 calculated by the robot simulator 160 is reflected in the virtual space information 105.

The visualizer 164 is realized by executing the image processing program 133. The visualizer 164 visualizes the behavior of each object in the virtual space (peripheral devices, the robot 30 equipped with the robot hand 210, the cable 341, etc.) based on the virtual space information 105 managed by the virtual space information management module 150. Generate image data to draw.

The range change module 166 is realized by executing the range change program 128. The range change module 166 changes the movable range of the axis set by the user. As a result, the movable range data 185 of the data group 180 is changed. The robot simulator 160 can perform the simulation again using the data group 180 having the changed movable range data 185.

The information setting module 170 is realized by executing the peripheral information setting program 125. The information setting module 170 searches the data group 180 for information indicating the behavior (position and orientation) of the peripheral device and the workpiece 232. The information on the retrieved behavior is reflected in the virtual space information 105.

The position and orientation acquisition module 190 is realized by executing the position and orientation acquisition program 127. The position and orientation acquisition module 190 acquires the position and orientation data 187 and sets it in the data group 180. Details of the processing of the position and orientation acquisition module 190 will be described later with reference to FIG.

The transfer tool 400 is realized by executing the transfer program 134. The transfer tool 400 reads the movable range of one or more axes used in the simulation by the robot simulator 160 from the data group 180 and transmits it to the PLC 200 via the network interface 110.

By mutually coordinating each function as shown in FIG. 4, the behavior of the robot 30 having the robot hand 210, peripheral devices, workpiece 232, cable 341, etc. that constitute the workpiece conveyance system to be simulated can be reproduced.

<F. Cable simulation>
The cable simulator 154 executes a cable simulation that calculates the behavior of an object corresponding to the cable 341 attached to the robot 30 in a three-dimensional virtual space. This three-dimensional virtual space is the same space as the three-dimensional virtual space for calculating the behavior of the robot 30.

The cable simulation calculates the behavior of the object corresponding to the cable 341 based on the behavior of the robot 30 indicated by the virtual space information 105.

In the embodiment, the behavior of the robot 30 indicated by the virtual space information 105 is determined based on the changed axis attitude each time the axis attitude is changed by a predetermined amount (ΔAR described later) within the movable range set by the user. The time-series behavior of the robot 30 calculated by the robot simulator 160 is shown.

Cable simulator 154 is an example of a "second simulator." The cable simulator 154 uses cable parameters related to the attachment of the cable 341 to the robot 30 based on the time-series behavior of the robot 30 in a three-dimensional virtual space, such as the position, and calculates a cable placed in the same virtual space as the robot 30. 341 behavior is calculated. The cable parameters include, for example, the length of the cable 341, the attachment position of the cable 341 (ie, the attachment position of the cable on the arm of the robot 30), but are not limited thereto. For example, it may include parameters that affect the behavior, such as parameters that depend on the material of the cable 341 (for example, a parameter that represents the hardness of the cable 341). The cable parameters are set as physical simulation parameters 124.

Specifically, the cable simulator 154 uses the physical simulation parameters 124 to perform a physical simulation. In this physical simulation, the object corresponding to the cable 341 is treated as a modeled rigid link in which a plurality of rigid bodies are connected by connecting adjacent rigid bodies with a joint.

The cable simulation is based on a given behavior of an object in a three-dimensional virtual space corresponding to the robot 30, and uses cable parameters to calculate a predetermined constraint equation including constraint conditions representing a rigid link model. The behavior of the object corresponding to the cable 341 in the three-dimensional virtual space is calculated. The behavior of the object corresponding to the cable 341 includes the position and orientation of the object in each of the X, Y, and Z axes in the three-dimensional virtual space. More specifically, this attitude is indicated by a combination of roll angle α, pitch angle β, and yaw angle γ, which are acceleration components of each rigid body constituting the rigid body link, for example, about the X-axis, Y-axis, and Z-axis.

<G. Axis movable range>
The movable range of the axis corresponding to each joint of the robot 30 will be explained. FIG. 5 is a diagram schematically showing an example of the movable range of each axis of the robot 30 according to the embodiment. Referring to FIG. 5, when motor M provided in each of joints 1300, 1301, 1302, 1303, 1304, and 1305 of robot 30 is driven according to a rotation amount based on a command from robot controller 310, each joint The corresponding axis moves according to the amount of rotation. In this embodiment, the axes corresponding to the joints 1300, 1301, 1302, 1303, 1304, and 1305 are defined as a sixth axis, a fifth axis, a fourth axis, a third axis, a second axis, They will be referred to separately from the first axis.

The arm 306 connected to the joints corresponding to each of these six axes changes its behavior in three-dimensional directions as shown by arrows 1400 to 1405 in the figure in conjunction with the movement of the axes. For example, arrow 1400 indicates behavior in the direction of bending the wrist arm 306, arrow 1401 indicates behavior in the direction of rotating the wrist arm 306, and arrows 1402 and 1403 indicate behavior in the direction of moving the upper arm arm 306 up and down. , an arrow 1404 indicates the behavior in the direction of moving the arm 306 of the lower arm back and forth, and an arrow 1405 indicates the behavior in the direction of rotating the arm 306 of the lower arm.

The user can set the movable range of each axis indicated by arrows 1400 to 1405 as the movable range data 185 in the data group 180 by operating the teaching pendant 300. The robot simulator 160 calculates the behavior of the robot 30 by performing a simulation according to the movable range set for each axis by the user.

<H. Data group 180 and settings>
The data of the data group 180 and the settings of the data will be explained.

(h1. Teaching point data and peripheral data)
FIG. 6 is a diagram showing an example of teaching point data 184 and position/orientation data 187 according to the embodiment. Referring to FIG. 6, a plurality of teaching points 1841 of robot 30 and position and orientation data 187 are shown in association with each teaching point 1841. The plurality of teaching points 1841 indicate, for example, a plurality of teaching points 1841 set corresponding to the target trajectory of pick and place. For example, the robot 30 can transport the workpiece 232 along the target trajectory by sequentially changing the position and orientation of the arm tip in accordance with the plurality of teaching points 1841, for example, LOC1→LOC2→LOC3→...LOCi→... can.

The position and orientation data 187 corresponding to each teaching point 1841 indicates the position and orientation that the peripheral device, cable 341, and workpiece 232 will take when the robot 30 takes the position and orientation indicated by the teaching point. For example, when the robot 30 takes LOC1 as the teaching point 1841, this indicates that the peripheral device, cable 341, and workpiece 232 take positions and orientations PA1, PC1, and PD1, respectively. The data in FIG. 6 is set by the position and orientation acquisition module 190.

(h2. Axis selection and movable range setting)
FIG. 7 is a diagram schematically showing an example of a UI screen for setting a movable range according to the embodiment. The screen is displayed on a display unit 303 of the teaching pendant 300, which will be described later, while direct teaching is being performed. When performing direct teaching, the user selects one or more axes for each teaching point of the robot 30, and sets a movable range for each of the selected one or more axes. Details of direct teaching using this screen will be described later with reference to FIG. 19.

The screen in FIG. 7 includes areas 1091 and 1092. In area 1091, an image modeling the outer shape of robot 30 is displayed. The information displayed in the area 1092 is the set value of the movable range of each axis of the robot 30. The model image in area 1091 corresponds to guidance information indicating that the movable range of each axis can be set by performing direct teaching while changing the posture of robot 30 in the direction of arrow 1093. During direct teaching, the angle of each axis changes.

In the area 1092, for example, six of the first axis, second axis, third axis, fourth axis, fifth axis, and sixth axis correspond to the teaching point "LOC1" of the robot 30. For each axis, a current value 1627 representing the current tilt angle (posture) of the axis and a setting value of the current movable range 1624 of the axis are displayed. The current value 1627 indicates the angle of each axis during teaching. For example, FIG. 7 shows a state in which the movable ranges 1624 of the second, third, fifth, and sixth axes are set by teaching. The set value of the movable range 1624 is indicated by a combination of a lower limit value 1628 and an upper limit value 1629. Note that the teaching point is not limited to "LOC1", and the movable range of each axis can be similarly set for other teaching points. When the user operates the lower limit button 1728 for the selected axis during teaching, the current value 1627 shown at that time is set as the lower limit value 1628 of the movable range of the axis, and similarly, when the user operates the upper limit button 1729. When operated, the current value 1627 shown at that time is set as the upper limit value 1629 of the movable range of the axis. The set lower limit value and upper limit value are reflected on the screen.

(h3. Mobility range data)
FIG. 8 is a diagram schematically showing an example of the movable range data 185 according to the embodiment. The simulation device 1 sets the movable range data 185 using the direct teaching information 330 from the teaching pendant 300. Referring to FIG. 8, the movable range data 185 is set based on the direct teaching information 330 for a plurality of axes 1622 and for each of the axes 1622, corresponding to the teaching point "LOC1". range of motion 1624. The movable range 1624 is represented by a combination of a lower limit value 1628 and an upper limit value 1629. In FIG. 8, the movable ranges of the second, third, fifth, and sixth axes indicated by the direct teaching information 330 are set, and the other axes, the first axis and For the movable range 1624 of the fourth axis, a default value corresponding to the teaching point "LOC1" is set. Although FIG. 8 shows the movable range data 185 corresponding to each axis set for the teaching point "LOC1", the movable range data 185 corresponding to each axis can be similarly set for other teaching points. .

(h4. Confirmation item data 186)
FIG. 9 is a diagram schematically showing an example of confirmation item data 186 according to the embodiment. The confirmation item data 186 is used to evaluate the simulation results in order to evaluate whether the movable range of each axis set by the direct teaching information 330 is appropriate, that is, whether or not an abnormality has occurred in the simulation. Confirmation items 1630 to be confirmed are shown. The confirmation items 1630 include, for example, "interference between robot and peripheral device" 1631, "interference between robot and hand" 1632, "interference between hand and peripheral device" 1633, and "damage of cable" 1634. The types of confirmation items 1630 are not limited to these.

The user selects one or more of the abnormality confirmation items 1630. Specifically, the simulation device 1 selects one or more confirmation items from among the plurality of confirmation items based on the user operation received from the operation unit 107, and sets the selected confirmation item as the confirmation item data 186. do. In the confirmation item data 186 in FIG. 9, for example, "interference between robot and peripheral device" 1631, "interference between robot and hand" 1632, and "damage of cable" 1634 are set as items to be confirmed.

<I. Detection of object interference and cable breakage>
The evaluation module 155 evaluates the results of the simulation performed by the simulation device 1. Specifically, the evaluation module 155 detects the presence or absence of interference between objects and the possibility of damage to the cable 341 based on the position and orientation of the objects indicated by the virtual space information 105 that is a simulation result.

(i1. Detection of interference)
The evaluation module 155 detects the presence or absence of "interference" based on the position and orientation of each object indicated by the virtual space information 105. For example, in "interference", an object corresponding to the robot 30 in the virtual space and one or more objects different from the object are arranged. The different objects include objects corresponding to peripheral devices, workpieces 232, cables 341, and so on.

"Interference" refers to the coordinates of the object of the robot 30 and one of a plurality of objects consisting of different objects (this is referred to as coordinate P) and the coordinate of another object (this is referred to as coordinate Q) When the condition that the relative relationship between the two indicates a specific positional relationship is satisfied, it is detected that there is "interference".

The specific positional relationship includes, for example, that the distance between the two is a specific distance that includes a distance that is equal to or less than a threshold value. In addition, the specific positional relationship may affect the behavior of the robot 30 (more specifically, the behavior of each arm) when performing a simulation while continuously changing the movable range of the axes corresponding to the joints of the robot 30, for example. This includes the fact that the locus connecting the indicated coordinate P and the next coordinate P intersects with the coordinate Q of another object. Specific positional relationships for detecting "interference" between objects are not limited to these positional relationships.

The threshold described above may be a value based on the size (width, height, etc.) of each object; for example, the threshold or the size of the object may be included in the CAD data of each object of the image data 137, for example. .

(i2. Detection of possibility of cable damage)
The evaluation module 155 detects whether there is a possibility of damage to the cable based on the behavior of the object corresponding to the cable 341 calculated by the cable simulator 154. This allows the behavior of the object corresponding to the cable to be evaluated. The evaluation module 155 evaluates the behavior of the cable 341 based on, for example, the load on the object calculated from the behavior of the object, more specifically the type of load that affects the behavior. Such load types may include, but are not limited to, for example, at least one of stretching, bending, twisting, and the like.

Specifically, the evaluation module 155 calculates the load based on the behavior of the object of the cable 341, and when it is determined that the calculated load satisfies a predetermined condition, it detects that the cable 341 may be damaged; When it is determined that the predetermined condition is not satisfied, it is determined that there is no possibility of damage. The evaluation module 155 outputs an evaluation result indicating the result of the detection.

The above predetermined condition indicates, for example, that the calculated bending radius exceeds the minimum bending radius of the cable 341 (a value specified by the specifications of the cable 341). Note that this predetermined condition is not limited to the bending radius condition.

<J. Processing procedure>
10 and 11 are diagrams showing an example of a flowchart of processing executed in the simulation device 1 according to the embodiment. 12 and 13 are diagrams schematically showing aspects of simulation according to the embodiment. FIG. 14 is a diagram schematically showing an example of changing the movable range according to the embodiment.

Each step shown in FIGS. 10 and 11 is typically performed by the processor 102 of the information processing device 100 using programs (physical simulation program 122, position and orientation acquisition program 127, range change program 128, robot simulation program 130, image processing program 133, transfer program 134, evaluation program 135, integration program 136, etc.).

When performing the simulation, the user receives direct teaching information 330 from the teaching pendant 300 (described later) via the local communication interface 116 (step S3), and sets movable range data 185 based on the received direct teaching information 330 (step S3). S5). As a result, the movable range 1624 of each of one or more axes 1622 is set in the movable range data 185 for each teaching point 1621.

The information processing device 100 acquires position and orientation data 187 for each teaching point indicated by direct teaching, and sets it in the data group 180 (step S7).

Further, the information processing apparatus 100 sets one or more confirmation items selected from among the plurality of abnormality confirmation items in the confirmation item data 186 based on the user's operation from the operation unit 107 (step S9). Here, in step S5, for example, the movable range of one or more axes corresponding to the teaching point "LOC1" is set. Note that even for other teaching points, the movable range of each axis can be set by the process shown in FIG.

When the information processing device 100 receives an instruction to start the simulation based on the user's operation (step S10), the information processing device 100 executes the simulation process using the movable range data 185 set in step S5. (Step S11). In the embodiment, for each axis set in the movable range data 185 in step S5 (that is, the second axis, the third axis, the fourth axis, and the fifth axis), the movable range set for the axis is The simulation in step S11 is executed using the range 1624. In the following, the axis that is the subject of simulation will be referred to as a "target axis" to distinguish it from other axes.

By executing the simulation, the virtual space information 105 reflects information indicating the behavior of objects corresponding to the peripheral devices, the workpiece 232, the robot 30 having the robot hand 210, and the cable 341 in the virtual space.

The information processing device 100 evaluates the simulation result based on the information indicating the behavior of the object reflected in the virtual space information 105, and outputs (displays) evaluation information indicating the evaluation result (step S12). For each of the one or more confirmation items 1630 indicated by the confirmation item data 186, the information processing device 100 detects the presence or absence of interference, or detects cable damage, based on information indicating the behavior of each object indicated by the virtual space information 105. Detect the possibility of

The information processing device 100 determines whether or not to change the movable range of the "target axis" based on the user's operation (step S13). When the information processing device 100 determines not to change the movable range of the "target axis" (NO in step S13), it determines whether simulation has been performed for all axes set in the movable range data 185 (step S13). S15). If the information processing device 100 determines that the simulation has not been performed for all axes yet (NO in step S15), the information processing device 100 changes the "target axis" to the next axis indicated by the movable range data 185, and A simulation is performed for the "axis" (step S11). When it is determined that simulation has been performed for all axes (YES in step S15), the information processing device 100 performs a transfer process (step S17).

In the transfer process, the information processing device 100 transmits the movable range of each axis for each teaching point indicated by the movable range data 185 to the PLC 200.

When the information processing device 100 determines to change the movable range of the “target axis” based on the user operation (YES in step S13), the information processing device 100 changes the movable range 1624 of the “target axis” in the movable range data 185. change (step S16). Thereafter, in step S11, a simulation is performed for the "target axis" using the changed movable range 1624.

In step S13, for example, if the evaluation result of the simulation indicates that "interference" or "possibility of cable damage" is detected, the user instructs the information processing device 100 to change the movable range of the target axis. Perform the operations instructed to do so.

In step S16, in response to the user's instruction, the information processing device 100 uses the range change module 166 to change the movable range of the "target axis." For example, as shown in FIG. 14, the lower limit value of, for example, the second axis, which is the "target axis" in the movable range data 185, is changed to be smaller, and the lower limit value of, for example, the fifth axis, which is the "target axis", is changed to be smaller. Change the upper limit value to be smaller.

According to the process of FIG. 10, the user should change the movable range 1624 of the target axis based on the evaluation result of the simulation output in step S12, and perform the simulation again using the changed movable range 1624. It is possible to obtain criteria for determining whether or not.

Therefore, by repeatedly performing simulations while changing the movable range 1624 of the target axis, the user can adjust the movable range 1624 of the target axis to an optimal value, that is, a value that is free from interference and cable damage. can. The data on the movable range of each axis adjusted to the optimum value through the simulation is transferred to the PLC 200 (step S17). As a result, the PLC 200 generates a target activation for the robot 30 and follows the target trajectory so that the movable range of each axis does not exceed the optimal value movable range (i.e., upper limit value 1629 and lower limit value 1628). The robot 30 can be controlled using the target value.

Referring to FIG. 11, the simulation processing procedure in step S11 will be described. In the simulation of FIG. 11, a variable AR representing the attitude of the "target axis" (a combination of the roll angle α, pitch angle β, and yaw angle γ of the axis) is used. The value of the variable AR can be added (or subtracted) by the value of ΔAR in the range from the lower limit value 1628 to the upper limit value 1629 indicated by the movable range 1624 of the “target axis”. Although the value of ΔAR is not limited, it can be, for example, an angle of 1 degree, and can also be set by the user.

First, the information processing apparatus 100 performs a robot simulation using the variable AR whose initial value is set as the posture of the "target axis" (step S31). The information processing device 100 calculates the behavior when the angle of the "target axis" is changed by the value of the variable AR, based on the behavior (position and orientation) of the robot 30 indicated by the teaching point LOC(i) that is the target of the simulation. That is, the behavior of the object in the virtual space corresponding to the robot 30 is calculated. This calculation can use the method shown in (c1. Coordinate system of virtual space).

The information processing device 100 reflects the behavior of the object corresponding to the robot 30 in the virtual space calculated through the simulation in the virtual space information 105. The information processing device 100 updates the value of the variable AR by a predetermined amount ΔAR according to (AR=AR+ΔAR) (step S33), and determines whether the updated value of the variable AR is within the movable range 1624 of the “target axis”. It is determined whether or not (step S35).

If it is determined that the variable AR indicates a value within the movable range 1624 (YES in step S35), the information processing device 100 performs a robot simulation using the value of the variable AR set to the updated value ( Step S31). In steps S30 to S35, the behavior of the object corresponding to the robot 30 is calculated each time the posture of the “target axis” is changed by the value of ΔAR within the movable range 1624, and the calculated behavior is reflected in the virtual space information 105. be done. Therefore, the virtual space information 105 reflects the time-series changing behavior of the object corresponding to the robot 30 in the virtual space.

If it is determined that the variable AR does not indicate a value within the movable range 1624 (NO in step S35), the information processing device 100 sets information on the behavior of peripheral devices, etc. (step S37). Specifically, the information processing device 100 searches the data group 180 for position and orientation data 187 corresponding to the teaching point “LOC1”, and reflects the searched position and orientation data 187 in the virtual space information 105. As a result, the virtual space information 105 reflects the position and orientation of objects corresponding to the peripheral device, cable 341, and workpiece 232 when the robot 30 assumes the position and orientation of the teaching point "LOC1."

The information processing device 100 performs a cable simulation based on the time-series behavior of the object of the robot 30 calculated in steps S31 to S33 (step S39). Time-series changes in object behavior calculated by cable simulation are reflected in virtual space information 105.

Through the processing shown in FIG. 11, the virtual space information 105 includes the position and orientation of objects corresponding to the peripheral device, cable 341, and workpiece 232 when the robot 30 takes the position and orientation indicated by the teaching point "LOC1", and the "target The time-series behavior of the object of the robot 30 obtained by changing the posture of the "axis" in the movable range 1624 and the time-series behavior of the object of the cable 341 linked to the time-series behavior are reflected.

FIG. 12 schematically shows the movable range in the simulation when the fifth axis is the "target axis", and FIG. 13 shows the movable range in the simulation when the sixth axis is the "target axis". Ranges are shown schematically.

<K. Displaying simulation results and evaluation>
FIG. 15 is a diagram illustrating an example of displaying simulation results according to the embodiment. For example, an example of the screen displayed on the display 109 in step S12 of FIG. 10 is shown. In the screen of FIG. 15, an area 1100 contains movable range data 1096 as a simulation result, confirmation results 1097 for each abnormality confirmation item, and an operation field for selecting whether to change the movable range setting of the target axis. button 1098 is displayed. Button 1098 is operated by the user in step S13.

As a result of the simulation, the movable range data 1096 indicates, for example, the set value of the movable range at the end of the simulation when the second axis is the "target axis." The confirmation result 1097 indicates the result of evaluating whether there is interference between objects or whether there is a possibility of cable damage for each confirmation item set by the user in step S9. The confirmation result 1097 also includes a button 1099 that can be operated by the user.

When the button 1099 is operated, the information processing apparatus 100 displays (reproduces) an image representing the detected abnormality in the area 1200. The image includes an image representing a state where an abnormality (interference) occurs when there is interference between objects, and an image representing a state where an abnormality (possibility of damage) occurs when there is a possibility of cable damage. Contains images. The information processing device 100 displays, in the area 1200, data 1021 indicating the identifier of the “target axis” when the abnormality occurs and its attitude (for example, the value of the variable AR). In the image of area 1200 in FIG. 12, for example, when the attitude variable AR of the second axis, which is the "target axis", indicates 52 degrees, the arm 306 of the robot 30 interferes with a peripheral device (for example, the tray 55). It includes a polygon mark 342 indicating that it has been done.

FIG. 16 is a diagram showing an example of another image displayed in area 1200 of FIG. 15. The image in FIG. 16 is an image when there is a possibility that the cable is damaged. The image includes a polygon mark 342 indicating that there is a possibility of damage to the cable 341 near the sixth axis, which is the "axis of interest."

<L. Teaching pendant configuration>
FIG. 17 is a diagram schematically showing the configuration of the teaching pendant according to the embodiment. The teaching pendant 300 for robot teaching is a portable teaching device that actually moves the robot 30 and detects and stores its behavior (the axis of the joints or the position and orientation of the end effector). Further, the teaching pendant 300 can also operate the robot based on the reproduced behavior by reproducing the recorded position and orientation.

The teaching pendant 300 and its peripheral devices will be described with reference to FIG. 17. The teaching pendant 300 communicates with the robot controller 310 by wire or wirelessly. For example, serial communication is used for communication between the robot controller 310 and the teaching pendant 300. Note that parallel communication may also be used.

The robot controller 310 includes a robot control section 312 and a communication I/F (abbreviation for Interface) 311. The robot control unit 312 outputs commands to the robot 30 based on commands from the PLC 200 or the teaching pendant 300. Specifically, the robot control unit 312 includes one or more servo drivers, and each servo driver controls the corresponding servo motors 1300 to 1305 based on instructions. An encoder (not shown) is provided on the rotating shaft of each servo motor. The encoder feeds back the position (rotation angle) of the servo motor, the rotation speed of the servo motor, the cumulative number of rotations of the servo motor, etc. to the corresponding servo driver. Therefore, when the servo motors 1300 to 1305 are driven based on a command from the PLC 200 or the teaching pendant 300, the rotation angle and the like according to the command are fed back.

Visual sensor 340 includes an image processing section 344. The imaging unit 350 is a device that images a subject existing in an imaging range, and its main components include an optical system such as a lens and an aperture, and a CCD (Charge Coupled Device) image sensor and a CMOS (Complementary Metal Oxide Semiconductor) image sensor. It includes a light receiving element such as. The image capturing section 350 captures an image according to a command from the image processing section 344.

The image processing section 344 includes an imaging control section 346 and a communication I/F 348. These components are connected to each other for data communication via a bus (not shown). The imaging control unit 346 processes the image data from the imaging unit 350 and transmits the processed image 351 to the field network 22.

The teaching pendant 300 includes a control unit 301 , a communication I/F 302 , a display unit 303 , an operation unit 304 for accepting user operations on the teaching pendant 300 , and a memory 305 . The communication I/F 302 is an interface for the teaching pendant 300 to communicate with external equipment including the robot controller 310 or the information processing device 100.

The control unit 301 receives an axis selection and a command for the motor M corresponding to the selected axis from the user via the operation unit 304. The control unit 201 generates a command (rotation amount) for controlling the servo motor M based on the command, and outputs the generated command to the robot controller 310. The robot controller 310 outputs the command from the teaching pendant 300 to the motor M corresponding to the selected axis. Thereby, the motor M is driven in accordance with the command according to the user's operation, and the angle of the axis selected by the user is adjusted to the commanded angle.

The control unit 301 also receives an image 351 output from the visual sensor 340 via the robot controller 310 and outputs the image to the display unit 303. For example, the image 351 includes an image showing the posture of the robot 30 in a state where the angle of the axis selected by the user has been adjusted in accordance with a command according to the user's operation. Thereby, the user visually confirms the selection of the axis and the command (rotation amount) for the motor M corresponding to the selected axis from the image of the robot 30 on the display unit 303, which was performed via the operation unit 304. be able to.

<M. Direct teaching＞
FIG. 18 is a diagram schematically showing a direct teaching scene according to the embodiment. FIG. 19 is a flowchart showing the direct teaching processing procedure according to the embodiment. Referring to FIG. 18, a scene in which a user sets one or more teaching points by operating the robot 30 will be described. Direct teaching is teaching to a so-called actual robot 30 installed on a production line, and teaching is performed in an environment where there are no peripheral devices, workpieces, etc. around the robot 30, for example, when the production line is stopped. Suppose that Further, to simplify the explanation, it is assumed that no load is applied to the cable 341 during teaching.

The servo drivers of each servo motor 1300 to 1305 included in the robot controller 310 have a brake (not shown). When the brakes are applied, the angle formed by two adjacent arms 306 (joint angle) or the rotation angle of the servo motors 1300 to 1305 are kept constant. When the brake is released, the user can use the auxiliary torque to adjust the arm 306 to a desired position and orientation using hands 701 and 702, as shown in FIG.

When the robot 30 has been adjusted to a desired position and orientation, the user operates the operation unit 304 of the teaching pendant 300 to instruct setting of teaching points. Upon receiving the instruction, the processor included in the control unit 301 starts the process shown in FIG. 19 . A program showing the processing in FIG. 19 is stored in the memory 305.

Referring to FIG. 19, control unit 301 determines a teaching point LOC(i) based on an instruction received from a user operation (step S51). Specifically, the control unit 301 receives the rotation angle, that is, the amount of rotation, of the servo motor corresponding to each axis from the robot controller 310. The control unit 301 obtains the rotation amount of each of the first to sixth axes, and calculates the teaching point LOC(i) from the obtained rotation amount of each axis. Thereby, the teaching point LOC(i) is determined.

The control unit 301 acquires an image of the robot 30 exhibiting the behavior of the teaching point LOC(i) (step S53). Specifically, the control unit 301 instructs the visual sensor 340 to image the robot 30 via the robot controller 310. The imaging unit 350 images the robot 30 according to instructions and transmits the captured image 351. Teaching pendant 300 receives image 351 via robot controller 310. Thereby, the control unit 301 can acquire an image of the robot 30 in a state where the robot 30 behaves at the teaching point LOC(i).

The control unit 301 determines the movable range of the axis of each joint of the robot 30 in a state where the robot 30 behaves at the teaching point LOC(i) (step S55). Specifically, the control unit 301 outputs the screen shown in FIG. 7 to the display unit 303. The current value 1627 in the area 1092 of the screen in FIG. 7 indicates the angle of the axis of each joint of the robot 30 when the robot 30 initially behaves at the teaching point LOC(i). This angle is the angle of each axis received by the control unit 301 from the robot controller 310, and is based on the amount of rotation fed back from the servo motors 1300 to 1305 corresponding to each axis.

As shown in FIG. 18, when the angles of the joints of the robot 30 are adjusted manually, the amount of rotation of the motor M resulting from the adjustment is fed back to the robot controller 310. The control unit 301 updates the current value 1627 on the screen in FIG. 7 with the angle based on the rotation amount after adjustment from the robot controller 310. By repeating this adjustment, the user operates the lower limit button 1728 or the upper limit button 1729 when the current value 1627 of the desired joint axis angle indicates the desired angle. This allows the user to set a movable range 1624 including a desired lower limit value 1628 and upper limit value 1629 for each desired axis.

The control unit 301 can determine the movable range 1624 of one or more axes selected by the user for each teaching point LOC(i) from the information set on the UI screen in FIG. 7 .

The control unit 301 generates information that associates the teaching point LOC(i) acquired in steps S51, S53, and S55, the image 351 of the robot 30, and the movable range of the axis of each joint, and the generated information (this is (referred to as teaching point information) is stored in the memory 305. The control unit 301 acquires teaching point information by executing the process of FIG. 19 for other teaching points as well, and stores it in the memory 305. Direct teaching information 330 indicates teaching point information of a plurality of teaching points LOC(i) stored in memory 305.

<N. Acquisition of position and orientation data>
FIG. 20 is a flowchart showing a processing procedure for acquiring position and orientation data 187 according to the embodiment. The process in FIG. 20 is realized by executing the position and orientation acquisition program 127 in step S7 in FIG.

The information processing device 100 acquires an image 351 captured by the imaging unit 350, for example, when the production line is in operation (step S71). Specifically, when performing pick-and-place transportation, a plurality of images 351 are acquired in which the robot 30, peripheral devices, and workpiece 232 are included in the imaging field of view. The plurality of images 351 include images continuously captured during pick-and-place transportation time.

The information processing device 100 compares the plurality of images 351 acquired in step S71 with the image of the teaching point LOC(i) (step S73). Specifically, the information processing device 100 compares the plurality of images 351 with the image of the teaching point LOC(i) included in the direct teaching information 330 received from the teaching pendant 300. Based on the comparison result, the information processing device 100 extracts one image 351 including an image of a robot exhibiting the same behavior as the behavior of the robot 30 indicated by the image of the teaching point LOC(i) from the plurality of images 351.

The information processing device 100 acquires the behavior of the peripheral device, the cable 341, and the workpiece 232 at the teaching point LOC(i) (step S75). Specifically, the information processing device 100 detects the relative positional relationship between the robot 30, the peripheral device, the workpiece 232, and the cable 341 in the extracted image 351 described above. The information processing device 100 indicates the position and orientation of the object in the virtual space corresponding to the robot 30, which is calculated from the rotation amount (A, B, C, D, E, F) of the servo motor indicated by the teaching point LOC(i). Based on the values PA (x, y, z, xα, yβ, zγ) and the above-described detected positional relationships, the positions and orientations of the peripheral device, work 232, and cable 341 in the virtual space are calculated. For example, it is implemented using a predetermined conversion formula. As a result, for each teaching point LOC(i) of the robot 30 indicated by the direct teaching information 330, the position and orientation of objects corresponding to the peripheral device, the workpiece 232, and the cable 341 in the virtual space are acquired.

The information processing device 100 sets the position and orientation of objects corresponding to the peripheral device, workpiece 232, and cable 341 corresponding to each acquired teaching point LOC(i) in the data group 180 as position and orientation data 187 (step S77 ).

<O. PLC200 hardware configuration example and data transfer>
An example of the hardware configuration of the PLC 200 will be described. FIG. 21 is a schematic diagram showing an example of the hardware configuration of PLC 200 according to the embodiment.

Referring to FIG. 21, PLC 200 realizes control over a controlled object by having a processor execute a program installed in advance. More specifically, the PLC 200 includes a processor 202 such as a CPU (Central Processing Unit) or an MPU (Micro-Processing Unit), a chipset 204, a main memory 206, a volatile memory 207, a flash memory 208, It includes a nonvolatile memory 209, a USB interface 216 that communicates with the information processing device 100, a memory card interface 218 to which a recording medium 220 can be attached, an internal bus controller 222, and a field bus controller 224. Flash memory 108 stores system program 211 and user program 212.

The processor 102 reads the system program 211 and the user program 212 stored in the flash memory 108, expands them to the main memory 106, and executes them, thereby realizing control over the controlled object. The user program 212 includes a control program, a system service program, and the like. The control program includes a trajectory generation program 99 that calculates (generates) a target trajectory for the robot 30. The trajectory generation program 99 includes, for example, an interpreter program.

The chipset 204 realizes the processing of the PLC 200 as a whole by controlling each component.

Internal bus controller 222 is an interface that exchanges data between PLC 200 and other units connected through an internal bus. The fieldbus controller 224 is an interface that exchanges data between the PLC 200 and an I/O unit connected through a fieldbus (not shown). The internal bus controller 222 and the fieldbus controller 224 acquire state values input to the corresponding I/O units 314 and 316, respectively, and also command the calculation results in the processor 202 from the corresponding I/O units 314 and 316. Output each as a value.

(o1. Data transfer)
FIG. 22 is a diagram schematically showing an example of data transfer according to the embodiment. Referring to FIG. 22, PLC 200 executes the program according to the priority every predetermined control period 77. For example, a program 88 with a high priority is executed. Program 88 includes a motion control program. When the execution of the program 88 is completed, the trajectory generation program 99, which has the next highest priority, can be executed. The trajectory generation program 99 is executed, for example, every multiple control cycles 77. Furthermore, the system service 10 program, which has a lower priority, is executed at a cycle longer than the execution cycle of the trajectory generation program 99.

When the data on the movable range of the teaching point LOC(i) is transferred in step S17 (FIG. 10), the PLC 200 stores the data on the movable range received from the information processing device 100 in the nonvolatile memory 209. Specifically, the information processing device 100 stores the movable range data 12 in the nonvolatile memory 209 of the PLC 200 using the control free time, that is, the time when the system service 10 is executed (step S17). After the movable range data 12 is stored in the nonvolatile memory 209, the PLC 200 reads the movable range data 12 from the nonvolatile memory 209 at the start of the trajectory generation program 99, and volatilizes the read movable range data 12. The data is stored in the data memory 207 (step S50). As a result, the old movable range data 11 stored in the volatile memory 207 is updated (rewritten) to the new movable range data 12. Here, the movable range data 11 (or movable range data 12) stored in the volatile memory 207 is a parameter referred to by the trajectory generation program 99. That is, when the target value of the trajectory to be generated indicates the teaching point LOC(i), the trajectory generation program 99 sets the command value generated corresponding to each axis to the movable range data 11 corresponding to the teaching point LOC(i). The command value is generated so as not to exceed the lower limit value to the upper limit value indicated by (or the movable range data 12). In this way, the movable range data 11 (or the movable range data 12) corresponds to a threshold parameter that sets the command value to an appropriate value (that is, a value that can avoid interference or damage to the cable 341).

Thereby, the movable range of each axis for each teaching point LOC(i) calculated by the simulation device 1 can be reflected in the control of the robot 30 of the PLC 200, which is an actual machine.

Furthermore, the timing for rewriting the old movable range data 11 in the volatile memory 207 using the new movable range data 12 may be specified by the time data 13 specified by the information processing device 100. The system service 10 performs the rewriting at the timing indicated by the time data 13. For example, the time data 13 may indicate the timing of changeover of a production line.

<P. Program＞
The simulations shown in FIGS. 10 and 11 illustrate a configuration provided by the processor 102 of the information processing device 100 in FIG. 3 executing a program stored in a memory such as the storage 120. Part or all of the configuration may be implemented using a dedicated hardware circuit (for example, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array)). Alternatively, the main parts of the information processing device 100 may be realized using hardware that follows a general-purpose architecture. In this case, virtualization technology may be used to run multiple OSs for different purposes in parallel, and to run necessary applications on each OS.

Further, the information processing device 100 may include a plurality of processors. In this case, cable simulation can be performed by multiple processors. Additionally, if processor 102 includes multiple cores, cable simulation can be performed by multiple cores within processor 102.

The storage medium 114 of the information processing device 100 stores information such as programs electrically, magnetically, optically, mechanically, or It is a medium that accumulates through chemical action. The processor 102 of the information processing device 100 may acquire the program or parameters related to the cable simulation described above from these storage media.

<Q. Advantages>
By using the simulation according to the embodiment, the movable range of the axis corresponding to each joint of the robot 30 can be adjusted to an appropriate range that is a range that can avoid interference and cable damage. Furthermore, in the simulation, the initially set movable range 1624 (upper limit value 1629 and lower limit value 1628) of the "target axis" is changed to narrow it when the possibility of interference and cable damage is detected. Thereby, the movable range 1624 of the "target axis" can be determined to be as wide as possible. By determining the movable range 1624 of the "target axis" to be as wide as possible, the movable range of the robot 30 can also be set as wide as possible. The set movable range of each axis can be set to a movable range threshold referenced by the robot control program executed by the PLC 200.

As a background of the embodiment, in a production line equipped with a robot 30, for example, when transporting a workpiece, the robot 30 may move to a teaching point in an attitude different from the attitude at the time of teaching. For example, if the posture of the workpiece 232 is detected by an image sensor and the pick position or place position is corrected on site according to the detection result, the posture of the robot is also corrected, and as a result, the posture of the robot 30 is A case may occur in which the robot takes a posture different from the posture designed by the robot control program.

Even in such a case, the movable range referred to by the robot control program can be set to the widest possible range determined by simulation. Therefore, even in such a case, the workpiece can be transferred using the robot 30 while avoiding damage to the cable 341, interference between the robot 30 and peripheral devices, or interference between the robot hand 210 and peripheral devices. .

<R. Additional notes>
This embodiment as described above includes the following technical idea.

[Configuration 1]
A simulation device (1) for estimating the behavior of a device (30) having a plurality of joints (1300 to 1305),
The device includes a plurality of axes, each of which corresponds to a joint of the device,
The joints corresponding to each of the plurality of axes operate in conjunction with the movement of the axes,
The simulation device includes:
direct teaching information (330) for the device, the behavior of a target placed in a virtual space corresponding to the device based on information including a movable range of one or more axes among the plurality of axes; a first simulator (160) that performs a simulation to calculate;
A simulation device, comprising: an image generation unit (164) that generates an image that visualizes the virtual space.

[Configuration 2]
further comprising a range changing unit (166) that changes the movable range of each of the one or more axes,
The first simulator further includes:
The simulation device according to configuration 1, which executes a simulation that calculates the behavior of an object placed in a virtual space corresponding to the device, based on the changed movable range of each of the one or more axes.

[Configuration 3]
A target different from a target corresponding to the device is arranged in the virtual space,
The different targets include targets corresponding to peripheral devices of the device,
The behavior of the object corresponding to the device includes the position of the object in the virtual space,
According to configuration 2, the range changing unit changes the movable range of each axis when a relative relationship between positions of an object corresponding to the device and the different object in the virtual space indicates a specific positional relationship. simulation equipment.

[Configuration 4]
A target different from a target corresponding to the device is arranged in the virtual space,
The different objects include an object (340) located in the virtual space that corresponds to a cable (341) attached to the device,
a second simulator (154 ) The simulation device according to configuration 2 or 3, further comprising:

[Configuration 5]
The simulation device includes:
Calculating the load applied to the object based on the behavior of the object corresponding to the cable calculated by the second simulator,
The simulation device according to configuration 4, wherein the range changing unit changes the movable range of each of the one or more axes when the calculated load satisfies a predetermined condition.

[Configuration 6]
The direct teaching information includes information on a movable range of the one or more axes associated with a teaching point (LOC(i)) indicating a position and orientation that the device should take,
The first simulator further includes:
A configuration in which the behavior of an object placed in the virtual space corresponding to the device is calculated based on the position and orientation indicated by the teaching point and the movable range of each of the one or more axes associated with the teaching point. 6. The simulation device according to any one of 1 to 5.

[Configuration 7]
The movable range is indicated using an upper limit value and a lower limit value,
a transfer unit that transmits data indicating the movable range of each of the one or more axes used by the first simulator to calculate the behavior of the device to a controller (200) that controls the device using the movable range; (400) The simulation device according to any one of Configurations 1 to 6, further comprising (400).

[Configuration 8]
A program for causing a computer (100) to execute a method for estimating the behavior of a device (30) having a plurality of joints (1300 to 1305), the program comprising:
The device includes a plurality of axes, each of which corresponds to a joint of the device,
The joints corresponding to each of the plurality of axes operate in conjunction with the movement of the axes,
The method includes:
Direct teaching information (330) for the device, the behavior of a target placed in a virtual space corresponding to the device based on information including the range of motion of one or more of the plurality of axes. a step (S11) of performing a simulation to calculate
A program comprising: generating an image visualizing the virtual space.

The embodiments disclosed this time should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is indicated by the claims rather than the description of the embodiments described above, and it is intended that all changes within the meaning and scope equivalent to the claims are included.

1 simulation device, 2 control system, 22 field network, 30 robot, 100 information processing device, 105 virtual space information, 122 physical simulation program, 124 physical simulation parameter, 125 peripheral information setting program, 127 position and orientation acquisition program, 128 range change Program, 130 Robot simulation program, 131 Cable simulation program, 132 Robot parameters, 133 Image processing program, 134 Transfer program, 135 Evaluation program, 136 Integration program, 150 Virtual space information management module, 154 Cable simulator, 155 Evaluation module, 160 Robot Simulator, 164 Visualizer, 166 Range change module, 170 Information setting module, 180 Data group, 184 Teaching point data, 186 Check item data, 187 Position and orientation data, 190 Position and orientation acquisition module, 200 Programmable logic controller, 300 Teaching pendant, 310 robot controller, 330 direct teaching information, 340 visual sensor, 341 cable, 1624 movable range.

Claims (8)

A simulation device for estimating the behavior of a device having multiple joints,
The device includes a plurality of axes, each of which corresponds to a joint of the device,
The joints corresponding to each of the plurality of axes operate in conjunction with the movement of the axes,
The simulation device includes:
Calculating the behavior of a target placed in a virtual space corresponding to the device based on direct teaching information for the device, which includes a movable range of one or more of the plurality of axes. a first simulator that performs simulation;
an image generation unit that generates an image visualizing the virtual space ;
comprising a range changing unit that changes the movable range of each of the one or more axes,
The first simulator further includes:
Performing a simulation to calculate the behavior of an object placed in a virtual space corresponding to the device based on the changed movable range of each axis,
A target different from a target corresponding to the device is arranged in the virtual space,
The different targets include targets corresponding to peripheral devices of the device,
The behavior of the object corresponding to the device includes the position of the object in the virtual space,
The range changing unit changes the movable range of each of the one or more axes when a relative relationship between the positions of an object corresponding to the device and the different object in the virtual space indicates a specific positional relationship. , simulation equipment. A target different from a target corresponding to the device is arranged in the virtual space,
The different objects include objects placed in the virtual space that correspond to cables attached to the equipment,
a second simulator that calculates the behavior of an object placed in the virtual space corresponding to the cable, based on the behavior of the object placed in the virtual space corresponding to the device, using parameters related to the attachment of the cable; The simulation device according to claim 1 , further comprising: . The simulation device includes:
Calculating the load applied to the object based on the behavior of the object corresponding to the cable calculated by the second simulator,
The simulation device according to claim 2 , wherein the range changing unit changes the movable range of each of the one or more axes when the calculated load satisfies a predetermined condition. A simulation device for estimating the behavior of a device having multiple joints,
The device includes a plurality of axes, each of which corresponds to a joint of the device,
The joints corresponding to each of the plurality of axes operate in conjunction with the movement of the axes,
The simulation device includes:
Calculating the behavior of a target placed in a virtual space corresponding to the device based on direct teaching information for the device that includes a movable range of one or more of the plurality of axes. a first simulator that performs simulation;
an image generation unit that generates an image visualizing the virtual space,
The direct teaching information includes information on a movable range of the one or more axes associated with a teaching point indicating a position and orientation that the device should take,
The first simulator further includes:
A system that calculates the behavior of an object placed in the virtual space corresponding to the device based on the position and orientation indicated by the teaching point and the movable range of each of the one or more axes associated with the teaching point . simulation device. A simulation device for estimating the behavior of a device having multiple joints,
The device includes a plurality of axes, each of which corresponds to a joint of the device,
The joints corresponding to each of the plurality of axes operate in conjunction with the movement of the axes,
The simulation device includes:
Calculating the behavior of a target placed in a virtual space corresponding to the device based on direct teaching information for the device that includes a movable range of one or more of the plurality of axes. a first simulator that performs simulation;
an image generation unit that generates an image visualizing the virtual space,
The movable range is indicated using an upper limit value and a lower limit value,
further comprising a transfer unit that transmits data indicating the movable range of each of the one or more axes used by the first simulator to calculate the behavior of the device to a controller that controls the device using the movable range; equipped with a simulation device. A program for causing a computer to execute a method for estimating the behavior of a device having multiple joints, the program comprising:
The device includes a plurality of axes, each of which corresponds to a joint of the device,
The joints corresponding to each of the plurality of axes operate in conjunction with the movement of the axes,
The method includes:
Calculating the behavior of a target placed in a virtual space corresponding to the device based on direct teaching information for the device that includes a movable range of one or more of the plurality of axes. a step of performing a simulation;
generating an image visualizing the virtual space;
changing the range of motion of each of the one or more axes,
The step of performing the simulation includes:
a step of performing a simulation to calculate the behavior of an object placed in a virtual space corresponding to the device based on the changed movable range of each axis;
A target different from a target corresponding to the device is arranged in the virtual space,
The different targets include targets corresponding to peripheral devices of the device,
The behavior of the object corresponding to the device includes the position of the object in the virtual space,
The step of changing the movable range includes changing the movable range of each of the one or more axes when the relative relationship between the positions of the object corresponding to the device and the different object in the virtual space indicates a specific positional relationship. A program that has steps for changing . A program for causing a computer to execute a method for estimating the behavior of a device having multiple joints, the program comprising:
The device includes a plurality of axes, each of which corresponds to a joint of the device,
The joints corresponding to each of the plurality of axes operate in conjunction with the movement of the axes,
The method includes:
Calculating the behavior of a target placed in a virtual space corresponding to the device based on direct teaching information for the device that includes a movable range of one or more of the plurality of axes. a step of performing a simulation;
generating an image visualizing the virtual space;
The direct teaching information includes information on a movable range of the one or more axes associated with a teaching point indicating a position and orientation that the device should take,
The step of performing the simulation includes:
calculating the behavior of an object placed in the virtual space corresponding to the device based on the position and orientation indicated by the teaching point and the movable range of each of the one or more axes associated with the teaching point; Has a program. A program for causing a computer to execute a method for estimating the behavior of a device having multiple joints, the program comprising:
The device includes a plurality of axes, each of which corresponds to a joint of the device,
The joints corresponding to each of the plurality of axes operate in conjunction with the movement of the axes,
The method includes:
Calculating the behavior of a target placed in a virtual space corresponding to the device based on direct teaching information for the device that includes a movable range of one or more of the plurality of axes. a step of performing a simulation;
generating an image visualizing the virtual space;
The movable range is indicated using an upper limit value and a lower limit value,
The step of performing the simulation includes the step of transmitting data indicating a movable range of each of the one or more axes used to calculate the behavior of the device to a controller that controls the device using the movable range. ,program.

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