JPH09146621A - Simulator for robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily generate a course of a robot when a commanded position is changed by designating one point displayed as the moving course of the robot and approximately expressing preceding and following passing points adjacent to the designated point by a Bezier curve. SOLUTION: A multiple variable second order differential equation expressing the equation of motion from the head to the end of moving course of the robot is solved by simulation from the control program of the robot stored in a commanded position storage means 2 and an instruction storage means by a course generating means 3 and displayed on a display device 24. At the same time, a passing point storage means 5 stores the time of passage, passing position information, correspondent commanded position and intermediate passing point between the passing point corresponding to the commanded position and the following passing point corresponding to the commanded position. Then, the course passing through points designated by a corrected commanded position operating means 10, namely, preceding and following adjacent passing points more than one is approximately expressed in the Bezier curve. In this case, the passing point approximated by the Bezier curve becomes the corrected passing point.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention finds an unexpected movement of a robot by, for example, performing an operation route (trajectory) and an operation time without actually operating the robot when programming an industrial robot. A device for preventing dynamic interference due to a route, for example, a robot simulation device capable of examining movement command data of a robot and its operation without interfering with a jig or the like in the vicinity of the robot. Is. As a matter of course, a part or all of the movement path of the robot can be approximated by a Bezier curve, the movement path of the robot can be corrected by the Bezier curve, and the movement path of the robot can be established with the Bezier curve.

[0002]

2. Description of the Related Art FIG. 18 is a block diagram of an entire conventional robot simulation apparatus. FIG. 19 is a functional block diagram of processing by a control program of a conventional robot simulation device. In FIG. 18 and FIG. 19, 81 is an instruction storage means for storing a control program describing the operation of the robot, and 8
Reference numeral 2 is a passing point storage means for storing the obtained passing points and intermediate passing points of the robot, and 83 is a command position storing means for storing a command position referred to by a control program describing the operation of the robot. It is formed by setting the area. Further, reference numeral 85 is a ROM that stores a control program for generating a robot path. 80 is R
It is a CPU that executes a control program for the entire system stored in the OM 85. Reference numeral 84 is a display device for displaying the obtained robot path. Further, 88 is an instruction storage means 8
1 is a route generation unit that performs a motion simulation of the robot executed by the CPU 80 based on 1 and the robot program stored in the command position storage unit 83 to generate a route.

Since the conventional robot simulation apparatus is configured as described above, it is possible to use the apparatus shown in FIGS.
In the path generation means 88 from the control program information of the robot stored in the command position storage means 83 and the command storage means 81 shown in FIG. And the like are solved by a numerical solution method to simulate the operation of the robot and displayed on the display device 84.

[0004]

In such a conventional robot simulation apparatus, it has been found that the path of the simulated robot program interferes with a jig, a wall, a tool, etc. near the robot. However, even if it is a correction of one point, even if it is a correction of one point, the multi-dimensional quadratic differential equation that expresses the equation of motion from the beginning to the end of the program again for all paths, the difference method, Runge-Kutta , A finite element method or other numerical solution method must be used to find the path.

The second-order differential equation expressing the motion of the robot is expressed as follows. H (x) x ″ + C (x, x ′) x ′ + G (x) + Kt (x) k = T (1) Here, each term has the following meaning: x is It is a vector of joint angles.In a 6-degree-of-freedom (joint) robot, it is a six-dimensional vector.x 'is a differential vector of joint angles, that is, a joint angular velocity vector. It is a differential vector, that is, a joint angular acceleration vector. H (x) is the inertia matrix. A robot with 6 degrees of freedom is represented by a 6 × 6 determinant. C (x, x ') is a matrix representing the influence of centrifugal force and Coriolis force. A 6 × 6 determinant is used for a robot with 6 degrees of freedom. G (x) is a vector that is determined depending on the joint angle X and represents the influence of gravity. K (x) is the external force applied to the robot arm,
6 × 6 representing the torque generated in each part by the moment
Is the Jacobian determinant of. Kt (x) is the transposed force K (x) externally applied to the robot arm. k
Is a six-dimensional vector of forces and moments acting from the outside.
T is a six-dimensional vector of torque generated by the actuator of each joint. In the case of a robot with 6 degrees of freedom, this equation of motion is a 6-element second-order differential equation.

In solving the equation of motion to obtain the motion of the robot, a conventional robot simulator uses a numerical solution method. That is, the behavior of each joint is divided for each minute time, the equation of motion is linearly approximated using the state immediately before the time of interest, and it is solved. The amount of calculation is based on the IEEE literature (Luh, Walke) in one step.
r and Paul “Resolved access
relation control of mecha
natural manipulators "IEEE T
rans. Automatic Control 2
5, 3 (1980) 468-474), multiplication is 1
627 times and 1255 additions are reported. Usually, 1 step is 1/1000 to 5/1000
It will take about 5 seconds, so about 10 seconds of operation,
It requires 64,000 to 28,820,000 operations. For this reason, when designing an optimal robot work program, or when studying the effect of changing the command position, a computer having a large computing capacity was prepared, and a lot of computation time was required. Furthermore, it takes a lot of time to re-evaluate the edited work program, and sufficient consideration cannot be made until a realistic exercise.

Therefore, the present invention has been made in order to solve the above-mentioned problems, and it is easy to generate a robot path when a command position is changed in a simulation work of a program of an industrial robot. An object of the present invention is to provide a robot simulation apparatus that can perform the movement command data of the robot and can examine the result in a short time.

[0008]

A robot simulation apparatus according to a first aspect stores a command position of a movement path, generates a movement path of the robot based on the stored command position, and generates the movement path. In the robot simulation device that displays the movement path of the robot,
Designate one point displayed as the movement path of the robot,
The passing point before and after the designated point adjacent to one or more points is approximated by a Bezier curve, and the movement path is calculated on the assumption that a change in the designated position of the designated point is a modification of the Bezier curve. The corrected command position and the one or more adjacent passing points before and after the corrected position are used as the movement path of the robot.

A robot simulation apparatus according to a second aspect stores a command position of a moving path, generates a moving path of the robot based on the stored command position, and displays the generated moving path of the robot. In the robot simulation apparatus described above, the movement path of the robot is approximately represented by a Bezier curve, one point of the approximated movement path is designated, and one or more front and rear passage points adjacent to the designated point are specified. Is approximated by a Bezier curve, the calculation of the movement path of the robot is corrected by changing the designated command position at one designated point as a modification of the Bezier curve, and the corrected command position and one or more adjacent points are corrected. The passing points before and after are used as the movement path of the robot.

A robot simulation apparatus according to a third aspect of the present invention approximately expresses the Bezier curve according to the first or second aspect as a velocity vector in its direction and an acceleration vector in its curvature.

According to a fourth aspect of the present invention, there is provided a robot simulation apparatus, which is configured to change the command position of a point designated by the Bezier curve according to any one of the first to third aspects of the velocity vector and the acceleration vector. It is a parallel movement.

According to a fifth aspect of the present invention, there is provided a robot simulation apparatus in which the correction command position designated by the Bezier curve according to any one of the first to third aspects is a command position of a moving path. .

According to a sixth aspect of the present invention, there is provided a robot simulation apparatus, wherein a corrected command position designated by the Bezier curve according to any one of the first to fourth modes is a position between command positions of a movement path. It was done.

According to a seventh aspect of the present invention, there is provided a robot simulation apparatus, wherein a corrected command position designated by the Bezier curve according to any one of the first to fourth aspects is a command position of a moving path and a command of a moving path. It is the position between the positions.

A robot simulation apparatus according to an eighth aspect stores a command position of a moving path, generates a moving path of the robot based on the stored command position, and displays the generated moving path of the robot. Then, when modifying the movement path of the robot, in a robot simulation apparatus for approximating a part or all of the movement path of the robot with a Bezier curve, and correcting the movement path of the robot by the Bezier curve, A command position of the robot movement path is stored, a movement path of the robot is generated based on the accumulated command position, and the obtained movement path of the robot is stored. Further, a correction position input means for inputting the correction command position of the obtained movement path of the robot, selects a command position in the vicinity of the specified correction command position, and selects a movement path corresponding to the selected command position. , Selecting pass points immediately before and after the selected movement route, calculating a command position corrected based on the movement instruction instructed by the correction position input means, and determining a movement route corresponding to the calculated correction instruction position. The calculation is performed to generate a corrected moving route and a route passing through the front and rear passing points, and the routes are displayed.

According to a ninth aspect of the present invention, in addition to the configuration of the eighth aspect, the robot simulation apparatus further receives the output result of the correction command position calculating means and reflects it in the command position storing means. The original command position is erased and the corrected command position is stored in the command position storage means.

According to a tenth aspect of the present invention, there is provided a robot simulation apparatus according to the configuration of the eighth or ninth aspect, further comprising: The distance in the vertical direction from the straight line connecting the passing points before and after the corrected moving path is 10
The passing point interval determination means for determining whether the movement is less than or equal to a percentage, and the determination result are displayed.

A robot simulation apparatus according to an eleventh aspect stores a command position of a moving path, generates a robot moving path based on the stored command position, and displays the generated robot moving path. However, when modifying the movement path of the robot, in a robot simulation apparatus for approximating a part or all of the movement path of the robot with a Bezier curve and establishing the movement path of the robot by modifying the Bezier curve. Storing a command position of the robot movement path, generating a movement path of the robot based on the accumulated command position, storing the obtained movement path of the robot, and obtaining the obtained movement path command of the robot When the correction command position is input between the positions, select the intermediate position of the command position near the correction command position. Select the moving route corresponding to the selected command position, select the passing points immediately before and after the selected moving route, and select the passing points immediately before and after the selected moving route and the selected moving route. Select an intermediate pass point according to the intermediate command position, select the moving route and the front and rear pass points, calculate the approximate route by Bezier curve based on the pass points immediately before and after the selected moving route and the selected intermediate pass point Approximate movement in which a corrected intermediate passing point is generated as a correction of the generated moving path and a moving path corresponding to the position is corrected by the corrected intermediate passing point calculated by the corrected intermediate passing point calculating means as correction of the generated moving path. A route is calculated, a moving route corresponding to the calculated correction command position is calculated, a corrected moving route and a route passing through the front and rear passing points are generated, and the obtained robot route and the correction are performed. It is for displaying the path of the robot which is fixed in the road computing means.

According to a twelfth aspect of the present invention, in addition to the configuration of the eleventh aspect, the robot simulation apparatus further receives the output result of the corrected passing point calculation means and reflects it in the command position storage means. The original command position is erased and the corrected command position is stored in the command position storage means.

According to a thirteenth aspect of the present invention, there is provided a robot simulation apparatus according to the configuration of the eleventh aspect or the twelfth aspect, further comprising: The distance in the vertical direction is 1 from the straight line connecting the passing points before and after the corrected moving path.
It is to determine whether the movement is 0% or less.

[0021]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of a robot simulation apparatus of the present invention will be described below with reference to the drawings.

Embodiment 1. FIG. 1 is a block circuit diagram showing an overall configuration of a robot simulation apparatus according to an embodiment of the present invention. In FIG. 1, reference numeral 25 is a ROM that serves as a program storage device for storing a control program for the entire robot system and robot simulation device. Reference numeral 20 denotes a CPU that is composed of an arithmetic circuit such as a microcomputer that executes a program stored in the ROM 25. Further, 1 is a command storage means for storing a control program describing the operation of the robot, 5 is a passage point storage means for storing the data input from the input device 27 and the passage points and intermediate passage points of the robot obtained by the CPU 20. Is a command position storage means for storing a command position referred to by a control program describing the operation of the robot. The command storage means 1, the passing point storage means 5, and the command position storage means 2 allocate a predetermined area to the RAM 26. It is composed of Reference numeral 24 is a display device such as a CRT for displaying the obtained route of the robot, and 27 is an input device including a keyboard, a mouse, a tablet or the like for inputting the movement route of the robot and for inputting a correction command of the obtained movement route of the robot. is there.

Since the robot simulation apparatus according to the present embodiment is configured as described above, first, FIG.
Based on the program information of the robot stored in the command position storage means 2 and the command storage means 1 shown in FIG. It is obtained by any one or a combination of a plurality of numerical solution methods such as the finite element method, and then the obtained moving path of the robot is displayed. At this time, on the premise that the movement path of the robot, which will be described later, is corrected, a part or all of the movement path of the robot is approximately represented by a Bezier curve from the beginning, and the display device 24
You may display it on. However, usually, the path from the beginning to the end of the movement path of the robot is calculated by a motion equation, then the calculated movement path of the robot is displayed, and the movement of the robot is corrected only when the movement path of the robot is corrected. It is preferable to approximate a part or all of the path by a Bezier curve because it is possible to determine the difference from the calculated value obtained by the equation of motion. As in the former case, the movement path of the robot is simulated and calculated using the equation of motion, and is displayed on the display device 24. At the same time, the passing points of the moving path are accumulated in the passing point storage means 5, and this passing point storage means is used. 5 stores the passing time and passing position information, and the corresponding command position. Further, an intermediate passing point between the passing point corresponding to the command position and the passing point corresponding to the subsequent command position is also stored.

FIG. 2 is a functional block diagram showing the overall functional configuration of the robot simulation apparatus according to the first embodiment of the present invention. In particular, the instruction storage for storing the ROM 25 and the instructions of the program describing the operation of the robot. The function of the CPU 20 program-controlled by the means 1 will be described. In FIG. 2, reference numeral 2 is a command position storage means for storing a command position referred to by a program describing the operation of the robot. Reference numeral 3 is a route generating means for generating a route by performing a robot motion simulation based on the robot control program stored in the command position storage means 2. Reference numeral 24 is a display device for displaying the route of the robot obtained by the route generation means 3. Reference numeral 5 is a passage point storage means for storing the passage points and intermediate passage points of the robot obtained by the route generation means 3. An input device 27 is composed of a mouse, a tablet or the like used by the operator to input the position. Reference numeral 7 is a command position selection means for searching and selecting a command position near the position designated by the operator from the command position storage means 2. Reference numeral 8 is a passing point selecting means for searching the passing point storing means 5 for a passing point corresponding to the commanded position selected by the commanded position selecting means 7 and selecting the passing point. Reference numeral 9 is a front and rear passing point selecting means for searching the passing points immediately before and after the passing point selected by the passing point selecting means 8 from the passing point storage means 5 and selecting them. Reference numeral 10 denotes a correction command position calculating means for calculating a command position corrected based on a movement instruction given by the operator through the input device 27. Reference numeral 11 is a correction passage point calculation means for calculating a passage point corresponding to the correction instruction position output by the correction instruction position calculation means 10. Reference numeral 12 is a correction route calculation means for generating a route passing through the correction passage point output by the correction passage point calculation means 11 and the front and rear passage points output by the front and rear passage point selection means 9.

The robot simulation apparatus of this embodiment is functionally configured in this way. First, a multi-dimensional quadratic that expresses a motion equation from the beginning to the end of the movement path of the robot by the path generation means 3 from the control program of the robot stored in the command position storage means 2 and the command storage means 1 shown in FIG. The differential equation is subjected to simulation calculation by any one of a numerical method such as a difference method, a Runge-Kutta, a finite element method, or a combination thereof, and is displayed on the display device 24. At the same time, the passing points of the moving route are stored in the passing point storage means 5. The passing point storage means 5 stores the passing time, the passing position information, and the corresponding command position. Further, an intermediate passing point between the passing point corresponding to the command position and the passing point corresponding to the subsequent command position is also stored.

As a concrete example, the instruction storage means 1 has
Assume that the following robot work programs are stored. Line number Command Remarks 10 MO p0 Move to command position p0 20 MO p1 Move to command position p1 30 MO p2 Move to command position p2 40 MO p3 Move to command position p3 50 END End of operation

The work program for this robot is line number 1
The path generation means 3 sequentially reads from 0 and creates a motion equation in the same manner as in the conventional simulation apparatus, and 1/1
The iterative equation is solved by dividing the interval into 000 to 5/1000 seconds. Then, the route generation means 3 sequentially stores the passing points and the intermediate passing points, which are the calculation results, in the passing point storage means 5.

A part of the accumulated state of the passing point storage means 5 will be exemplified below. Time Passing point / intermediate passing point Command position t00 R00 P0 t01 R01-t02 R02-t03 R03-t04 R04-t10 R10 P1 t11 R11-t12 R12-t20 R20 P2 Where the blank space of the command position is indicated by "-". Indicates that it is an intermediate passage point between command positions.

FIG. 3 is an explanatory view showing a display example of a part of the route of the robot displayed by the robot simulation apparatus according to the first embodiment of the present invention. Here, the wall 50 is an obstacle for the movement of the robot, and the robot is a crank indicated by a chain line composed of four command positions P0, P1, P2 and P3 along the wall 50 indicated by hatching. A straight line-shaped path is set as the movement path. But,
The robot moves along a thick broken line substantially S-shaped curved line showing the calculation result of the route generation means 3 for performing simulation calculation in consideration of dynamic interference such as inertial force, viscous resistance, friction, Coriolis force, etc. and servo characteristics. It shows that you do. In this state, if the robot is actually driven, the robot arm will bite into the wall 50 and cause interference.

Next, the operator uses the input device 27 to specify the route to be corrected in order to correct the route of the robot shown by the thick broken line. The command position selection means 7 compares the position designated by the operator with the command position information stored in the command position storage means 2 and selects the nearest command position. In the case of the illustrated route, since it is necessary to correct the vicinity of the first corner, the operator indicates the correction point near the first corner with the input device 27. In FIG. 3, a triangular pointing position pointer 55 is shown on the display device 24. Then, in response to this instruction, the command position selecting means 7 searches the contents of the command position storage means 2 for the command position in the vicinity thereof, and selects the command position P1 existing in the vicinity as a correction target. In the present embodiment, when the passing point R10 is corrected to the command position P1, the operator is informed by a star-shaped marker that a request for correcting the command position P1 has been input.

At the same time, the passing point selecting means 8 stores the passing point R10 corresponding to the selected command position as the passing point storing means 5
Choose from That is, the command position in the command position storage means 2 is searched, and the corresponding passing point R10 is searched and selected. In the illustrated example, since the operator has selected the command position P1, the passing point selecting means 8 searches the passing point storage means 5 for the command position P1 at time t10, and the passing point R10 corresponding thereto is searched. Select. Next, the front and rear passing point selecting means 9 selects from the passing point storing means 5 the passing points immediately before and after the passing point selected by the passing point selecting means 8. First, the command position immediately before the selected command position P1 is searched. In the example shown in FIG. 3, the time t immediately before the command position P1
The command position P0 in the 00 column is searched. Then, the passing point R00 corresponding to this command position P0 is selected as the immediately preceding passing point. In addition, the passing point immediately after, similarly,
The passing point R20 corresponding to the command position P2 is selected.

Next, the corrected command position calculation means 10 calculates the distance from the command position before the operator indicates the command position indicated by the selected marker and the command position corrected from that direction. That is, the command position selected by the command position selecting means 7 is calculated by using the input device 27 to calculate the distance and direction. As described above, in the case of correcting the passing point R10 to the command position P1, when the operator is displayed with a star-shaped marker that the request for correcting the command position P1 is input, the marker display from the passing point R10. The distance to the commanded position P1 and the direction thereof are calculated.

FIG. 4 is an explanatory view showing an example of the screen of the display device 24 during the work for correcting the command position in the robot path displayed by the robot simulation device according to the first embodiment of the present invention. Correction command position calculation means 1
A point designated by 0, that is, a route passing through one or more passing points adjacent to the passing point R10, that is, the passing point R00 and the passing point R20 is approximated by a Bezier curve. Here, the passing point R10 approximated by the Bezier curve is the corrected passing point
mdf.R10 (mdf. is defined as a point approximated by a Bezier curve and a commanded position corrected on the Bezier curve in this embodiment).

In FIG. 4, the moving path indicated by a thick broken line is the passing point R10, which is the simulation path in which the simulation calculation is performed in consideration of dynamic interference such as inertial force, viscous resistance, friction, Coriolis force, etc. and servo characteristics. Passing points R00 and R2 before and after adjoining
An approximate movement path approximated by a Bezier curve passing through 0 is shown by a thick broken line. In reality, the approximated movement path approximated by the Bezier curve may be slightly different from the movement path calculated by the dynamic equation of motion. Here, for example, the triangular designated position pointer 55a in FIG. 4 (subscripts a to d of the designated position pointer 55 indicate the displacement of the position)
Indicates a command position P1 to be corrected, which is designated by the operator. When the operator inputs the distance and direction of the movement to be corrected, that is, the vector amount indicated by the arrow 60 in the figure, by the input device 27, the triangular pointing position pointer 55 on the display device 24 indicates the input movement. It moves to the position of the designated position pointer 55d according to the distance and direction. This allows the operator to confirm the designated movement amount and its direction. Here, the correction passage point mdf.R10 obtained by the correction command position calculation means 10
And the correction command position mdf.P1 is displayed on the screen of the display device 24.

If the passing point R10 approximated by this Bezier curve is moved to the corrected passing point mdf.R10, even if the robot is actually moved, the robot arm does not bite into the wall 50 and no interference occurs. At this time, the command position P1 displayed as a marker becomes the correction command position mdf.P1,
It shows that the robot moves along a thick solid line substantially S-shaped curve path that has been subjected to simulation calculation in consideration of dynamic interference such as inertial force, viscous resistance, friction, Coriolis force, and servo characteristics.

Next, the correction passing point calculating means 11 calculates the correction passing point mdf.R10 based on the correction command position mdf.P1 output from the correction command position calculating means 10. Here, the difference between the correction command position mdf.P1 and the correction passing point mdf.R10 and the difference between the command position P1 and the passing point R10 are caused by dynamic interference such as inertial force and viscous resistance applied to the robot arm. .

Therefore, the general relationship between the commanded position and the passing point is expressed by the following equation. R = P + delt (2) where R: passing point P: command position delt: difference vector between command position and passing point Here, the difference between the command position and passing point depends on the dynamic interference force. Since it has occurred, it can be expressed as follows. del t ∝ F (3) F: kinetic interference force Since the interference force that causes this difference is composed of inertial force, viscous resistance, frictional resistance, etc., it can be expressed as follows. F = M ・ A + C ・ V + K + O (4) However, M ・ R ・ A: Inertia force M: Inertia moment matrix A: Acceleration matrix C ・ V: Viscous resistance C: Viscosity coefficient matrix V: Velocity K: Friction resistance O: Other minute terms Here, the other minute terms include centrifugal force and Coriolis force that are functions of higher-order terms of velocity.

From equation (4), it can be seen that the dynamic interference force has a linear relationship with the velocity and acceleration. That is, the difference between the command position passing points is proportional to the acceleration and the velocity as expressed by the following equation. del t ∝ A, V (5) Here, the original command position P and the corrected command position mdf.P
If the distance between the two points is sufficiently smaller than the distance to the passing points corresponding to the front and rear command positions, it can be assumed that the acceleration and velocity of the robot are equal, so the interference force at the corrected command position is also equal. Therefore, the difference between the corrected command position mdf.P and the corrected passing point mdf.R can be regarded as the same as the difference between the original command position P and the passing point R. Then, R = P + delt (6) mdf.R = mdf.P + delt '(7) Here, from the above assumption, delt' = delt (8) ) Therefore, mdf.R = mdf.P + delt = mdf.P + (RP) (9) As described above, the corrected passing point calculating means 11 is the passing point approximately corrected by the above equation. Ask for. Next, the correction path calculation means 12 obtains an approximate path connecting the correction command position mdf.P1 and the correction passing points before and after the correction command position mdf.P1 and displays it on the display device 24.

A program for approximating the movement path of the robot connecting the passing points with a cubic Bezier curve will be described. FIG. 5 is a flow chart showing an operation procedure of the corrected path calculating means 12 in the robot simulation apparatus according to the embodiment of the present invention. FIG.
(A) is an explanatory view for explaining a Bezier curve and its control points.
FIG. 6B is an explanatory diagram showing an example of a correction path generated by the robot simulation apparatus according to the embodiment of the present invention.

In this embodiment, a Bezier curve is used to approximate the movement path curve of the robot. The basic cubic Bézier curve has four points that determine the curve called the four control points shown in FIG. 6 (a). These are designated as control points QQ00, QQ01, QQ02, QQ03.
Each point is geometrically characterized as follows. QQ00: Start point of curve QQ01: The direction connecting the start point and this point is the direction of the tangent line at the start point, and the magnitude of this vector represents the knitting curvature at the start point. QQ02: The direction connecting the end point and this point is the direction of the tangent line at the start point, and the magnitude of this vector represents the curvature at the start point. QQ03: End point of curve In this type of Bezier curve, the vector connecting the control point QQ00 and the control point QQ01 determines the tangent and the curvature at the start point of the curve, and strongly influences the direction and the curvature of the start point of the movement path of the robot. It has the similarity between speed and acceleration. Further, similar approximation is recognized for the vector connecting the control points QQ02 and QQ03 at the end point.

This Bezier curve is a curve expressed by the following equation. The point on the curve is RR.

(Equation 1) However, s is an intermediate parameter and has a value of 0 to 1.

Here, the two vectors representing the characteristics of the start point and the end point are vectors proportional to the velocity of the robot at each point. In addition, the intermediate parameter s can be regarded as the normalized time. s = (t−ts) / (t−e−ts) (11) where t: time t. e: starting point passing time t. s: end point passing time The operation sequence of the corrected route calculating means 12 will be described with reference to FIG. The movement path of the robot targeted by the correction path calculation means 12 is shown in FIG. 6B as an example. First, the correction route calculation means 12 is the original route before the correction (the route passing through the passing point corresponding to the command position to be corrected and the passing points before and after the passing point).
Is approximated by a Bezier curve. In this Bezier curve, four control points QQ00, QQ01, QQ
02, QQ03 are specified.

Steps S1 and S2 in FIG.
At, the start point QQ00 and the end point QQ03 are specified. Here, since the start point QQ00 and the end point QQ03 are end points, they are determined as follows. QQ00 = R0 QQ03 = R1 In specifying the remaining two control points QQ01 and QQ02, two intermediate passing points are selected in step S3 and step S5. 1 / between the end points to ensure accuracy
It is desirable to select 3 neighborhoods and 2/3 neighborhoods. That is,
In this vicinity, the control point QQ01 of the first derivative of the Bezier curve
This is because, since the coefficients related to and the control point QQ02 are close to zero, the simultaneous equations are close to diagonal, and improvement in calculation accuracy can be expected.

In step S4, one of the intermediate passing points is R
R01 and the passing time is t. If it is 1, the normalized transit time is s. 01 = (t.01-t0) / (t.e-t.s) ... (12). In step S6, the other is RR02; the passage normalization time is s. 02. Substituting these two intermediate passage points into the Bezier curve equation yields two equations. From this, simultaneous equations are created in step S7.

[0045]

(Equation 2) These equations are solved for the control points QQ01 and QQ02 in step S8.

[0046]

(Equation 3) As a result, in step S9, the Bezier curve approximating the movement path of the original robot can be specified, and becomes like the thick broken line in FIG. 6B.

[0047]

(Equation 4)

Next, the movement route corrected here is obtained. Strictly speaking, when the command position is changed, the passing points before and after the command position are also affected and move. However, if the correction amount of the corrected command position is sufficiently smaller than the interval before and after that, the influence can be ignored. Therefore, the corrected route can be regarded as a passing point mdf.R1 approximately calculated from the corrected command position mdf.P1 and a curve passing through the preceding and succeeding passing points. That is, in the illustrated example, the start point of the corrected travel route is the same P0 as the original travel route, and the end point is md obtained by the corrected passing point calculation means 11.
f.R1. Further, the velocity at the starting point R0 is the same before and after the correction, assuming that the influence of the correction is small.
From now on, the second control point of the Bezier curve expressing this movement path is also the same before and after the correction. Also the modified end point md
Also in f.R3, assuming that the tangential direction and the curvature are substantially equal before and after the correction as in the case of the start point, the third control point moves parallel to the fourth control point, that is, the end point. Therefore,
The control points of the travel route expressing the travel route modified in step S11 are as follows. First control point mdf.QQ00 = QQ00 Second control point mdf.QQ01 = QQ01 Third control point mdf.QQ02 = QQ02 + delt Fourth control point mdf.QQ03 = QQ03 + delt The Bezier curve obtained from these four control points is a step. In S11, the processing is as follows, and becomes as indicated by the thick solid line in FIG.

[0049]

(Equation 5)

To implement this equation, JISX3
010 (ISO / IEC955) describes the programming language C. Here, the direct calculation of the above formula is inefficient because of redundant algebraic operations. Therefore, the term that appears repeatedly is set to the intermediate variable t1. t2. . . t
As 53, the efficiency of calculation execution is improved. t1 = 1.0-s; t2 = t1 * t1; t6 = s. 01 * s. 01; t7 = t6 * R0; t8 = t6 * s. 01; t9 = t8 * R0; t10 = s. 02 * s. 02; t11 = t10 * R0; t12 = t10 * s. 02; t13 = t12 * R0; t14 = RR02 * t6; t15 = RR02 * t8; t16 = RR01 * t10; t17 = RR01 * t12; t18 = s. 02 * t7; t19 = t12 * t7; t20 = t10 * t9; t21 = t8 * t10; t22 = R1 + delt; t24 = t12 * t6; t26 = s. 02 * t9; t27 = s. 01 * t13; t28 = s. 01 * t11; t29 = -t7 + t9 + t11-t13 + t14-
t15-t16 + t17 + 3.0 * t18-2.0 * t
19 + 2.0 * t20 + t22 * t21-t22 * t2
4-3.0 * t26 + 3.0 * t27-3.0 * t2
8; t31 = 1 / s. 01; t32 = 1 / s. 02; t37 = 1 / (s.01-s.01 * t10-t6
+ S. 02 * t6-s. 02 + t10); t40 = s * s; t46 = t20-t15-s. 02 * R1 * t8 +
2.0 * R1 * t21-2.0 * t26 + t9-2.0
* T7 + 3.0 * t18-t19-2.0 * R1 * t2
4 + 2.0 * t14; t53 = -3.0 * t28-s. 01 * RR02 +
R0 * s. 01 + 2.0 * t27 + R1 * t12 * s.
01-t13 + t17 + 2.0 * t11 + RR01 *
s. 02-2.0 * t16-R0 * s. 02; mdf.RR0 = R0 * t2 * t1 + t37 * t32 * t
31 * t29 * s * t2 + 3.0 * (t32 * t37 *
t31 * (t46 + t53) / 3 + delt) * t1 * t
40 + t22 * t40 * s;

Similarly, a movement route based on the corrected command position and the command position immediately after that is determined.

(Equation 6)

To realize this equation, JISX3
010 (ISO / IEC955) describes the programming language C. Here, the direct calculation of the above formula is inefficient because of redundant algebraic operations. Therefore, the terms that appear repeatedly are set as intermediate variables t1, t2, ...
As t53, the efficiency of calculation execution is improved. t1 = 1.0-s; t2 = t1 * t1; t4 = R1 + delt; t7 = s. 01 * s. 01; t8 = t7 * t4; t9 = t7 * s. 01; t10 = t9 * t4; t11 = s. 02 * s. 02; t12 = t11 * t4; t13 = t11 * s. 02; t14 = t13 * t4; t15 = RR02 * t7; t16 = RR02 * t9; t17 = RR01 * t11; t18 = RR01 * t13; t19 = s. 02 * t8; t20 = t13 * t8; t21 = t11 * t10; t23 = R2 * t9 * t11; t25 = R2 * t13 * t7; t26 = s. 02 * t10; t27 = s. 01 * t12; t28 = s. 01 * t14; t29 = -t8 + t10 + t12-t14 + t15
-T16-t17 + t18 + 3.0 * t19-2.0 *
t20 + 2.0 * t21 + t23-t25-3.0 * t
26-3.0 * t27 + 3.0 * t28; t30 = 1 / s. 01; t32 = 1 / s. 02; t36 = 1 / (s.01-s.01 * t11-t7
+ S. 02 * t7-s. 02 + t11); t41 = s * s; t45 = 2.0 * t23-t16 + t21-s. 0
2 * R2 * t9-2.0 * t26 + t10-2.0 * t
8-t20-2.0 * t25 + 3.0 * t19 + 2.0
* T15; t52 = -s. 01 * RR02-3.0 * t27 +
s. 01 * t4 + 2.0 * t28 + R2 * t13 * s.
01 + 2.0 * t12-t14 + t18 + RR01 *
s. 02-2.0 * t17-s. 02 * t4; mdf.RR1 = t4 * t2 * t1 + 3.0 * (t36 *
t32 * t30 * t29 / 3 + delt) * s * t2 + t
32 * t36 * t30 * (t45 + t52) * t1 * t
41 + R2 * t41 * s; The correction route calculating means 12 displays the Bezier curve expressing the correction route thus obtained on the display device 24.

Next, the worker evaluates the corrected moving route displayed on the display device 24, and if the correction is judged to be insufficient, the above-mentioned operation of command position correction is repeated. In addition,
The robot simulation apparatus according to the present embodiment first calculates a differential equation from the beginning to the end by a difference method, a Runge-Kutta, a finite element method or the like to generate a movement path of the robot, and calculates the movement path of the generated robot. When displaying and correcting the movement path of the robot, a part or all of the movement path of the robot is approximated by a Bezier curve, and the commanded position is corrected by the Bezier curve to establish the movement path of the robot. You may. In particular, when the moving path is modified, the Bezier curve approximating calculation time can be minimized in the case where only a part of the moving path of the robot that is the target of the modification is approximated by the Bezier curve.

In the robot simulation apparatus according to the present embodiment, the effect of command position correction can be easily evaluated without recalculating the movement equation of the robot due to the command position correction over the entire path. Therefore, it is possible to improve the operation rate of the robot simulation apparatus. The correction route obtained in this embodiment is based on the assumption that the correction command position and the movement amount of the correction passage point are sufficiently small as compared with the distance between the front and rear passage points, and the speed and acceleration can be regarded as the same. Based on the assumption that the movement path can be expressed by a Bezier curve, after determining the correction command position, a robot program using the command position reflecting this result is calculated by the path generation means 3. , It is desirable to solve the differential equation from the beginning to the end by a numerical solution method such as difference method, Runge-Kutta, finite element method, etc., and add rigorous examination and evaluation.

As described above, when the command position is moved and the distance between the command position and the corrected command position is sufficiently smaller than the distance between the passing points corresponding to the preceding and following command positions, the movement is performed. It can be assumed that the acceleration and velocity of the robot on the path are equal before and after correcting the commanded position, and the dynamic interference force that acts on the robot at the commanded position is also equalized. The difference can be regarded as the same as the difference between the original command position and the passing point, and when the command position is changed, strictly speaking, the passing points before and after that also move, but the correction command When the correction amount of the position is sufficiently smaller than the space before and after that, the correction route can be regarded as a passing point that is approximately obtained from the correction command position and a curve that passes through the front and rear passing points. Then, by approximating the passing point that is approximately obtained from the corrected command position and the cubic Bezier curve that passes through the preceding and following passing points, the calculation of the route simulation by changing the command position is performed immediately before and after the corrected command position. , It is possible to obtain only by calculating the path of the passing point immediately after, and as a result, it is not necessary to calculate the multidimensional equation of motion over the entire path, and the amount of calculation can be reduced.

The robot simulation apparatus according to the present embodiment stores the commanded position of the moving path, and based on the stored commanded position, the differential equations from the beginning to the end, the difference method, the Runge-Kutta, the finite element method, etc. The moving path of the robot is generated by calculation by using, and the generated moving path of the robot is displayed. Then, when the movement path of the robot is corrected, a part or all of the movement path of the robot is approximately represented by a Bezier curve, and the movement path of the robot is established by correcting the Bezier curve.
A command position storage means 2 for storing the command position of the movement path of the robot, and a path generation means 3 for generating the movement path of the robot based on the command positions accumulated in the command position storage means 2.
And a passing point storage means 5 for storing the moving path of the robot obtained by the path generating means 3 and an input device 27 for inputting a correction command position of the moving path of the robot obtained by the path generating means 3.
And a command position selecting means 7 for selecting from the command position storing means 2 a command position in the vicinity of the correction command position designated by the correction position input means composed of the input device 27. The passing point selecting unit 8 that selects the moving route corresponding to the selected command position from the passing point storing unit 5 and the passing points immediately before and after the moving route selected by the passing point selecting unit 8 are selected from the passing point storage unit 5. Front and rear passing point selection means 9, correction command position calculation means 10 for calculating a command position modified based on a movement command instructed by the correction position input means composed of the input device 27, and output of the correction command position calculation means 10. The corrected passing point calculating means 11 for calculating the moving path corresponding to the corrected command position, the corrected moving path output by the corrected passing point calculating means 11, and the output of the front and rear passing point selecting means 9 And a display means for displaying the route of the robot obtained by the route generation means 3 and the route of the robot corrected by the corrected route calculation means 12. Which can be an embodiment corresponding to the claims.

Therefore, the Bezier curve is displayed on the display device 24 for the obtained correction route, and the correction movement route displayed on the display device 24 is evaluated by the brain judgment such as the experience of the operator. If it is determined, the above operation of command position correction is repeated, and command position correction can be easily performed without recalculating the change in the robot movement path due to command position correction over the entire path. Since the effect of can be evaluated, the operating rate of the robot simulation apparatus can be improved. Therefore, it is possible to easily generate the path of the robot when the command position is changed in the simulation work of the program of the industrial robot, and to shorten the movement command data of the robot and to examine the result. Can be done in time.

By the way, the robot simulation apparatus of the present embodiment stores the command position of the moving path, generates the moving path of the robot based on the stored command position of the moving path, and In a robot simulation device that displays a moving path, one point displayed as the moving path of the robot is designated, and one or more front and rear passing points adjacent to the designated point are approximated by Bezier curves, and The calculation of the movement path is corrected on the assumption that the designated one point command position is changed as the correction of the Bezier curve, and the robot corrects the corrected command position and one or more adjacent passing points before and after the robot. The travel route is as follows. This can be an embodiment corresponding to the claims.

Therefore, a Bezier curve is displayed for the obtained correction route, the displayed correction movement route is evaluated by the brain judgment such as the experience of the operator, and when it is judged that the correction is insufficient, the command position correction is performed. The above operation is repeated.
It is possible to easily evaluate the effect of command position modification without having to recalculate the movement equation of the robot due to the command position modification over the entire path. It is possible to improve, it is possible to easily generate a robot path when the command position is changed in the simulation operation of the movement command data of the industrial robot, and to correct the movement command data of the robot. The result can be examined in a short time.

Further, the robot simulation apparatus according to the present embodiment stores the command position of the moving path, generates the moving path of the robot based on the stored command position, and generates the moving path of the robot. In a robot simulation apparatus that displays, the movement path of the robot is approximately represented by a Bezier curve, one point of the approximated movement path is designated, and one or more points before and after the designated point are adjacent to each other. The passing point is approximated by a Bezier curve, and the calculation of the movement path of the robot is corrected by using the change of the designated position of the designated one point as the correction of the Bezier curve, whereby the corrected designated position and its adjacent 1
Passage points before and after the points are used as the movement path of the robot, and this can be an embodiment corresponding to the claims. In particular, the Bezier curve in the robot simulation apparatus of the present embodiment is an approximate representation of its direction as a velocity vector and its curvature as an acceleration vector. Correspondence between the characteristics of the Bezier curve and the velocity vector and acceleration vector Match, and the closest approximation can be made.

The change of the command position of the point designated by the Bezier curve is a parallel movement of the velocity vector and the acceleration vector, and the constant of the continuous command position is not changed. The commanded position of the robot is stored, and the error between the robot's moving path generated using a differential equation based on the stored commanded position of the moved path is small, and an unexpected moving path is formed by mutual conversion. There is no possibility of being. Further, the correction command position designated by the Bezier curve is a command position for forming a movement path and is not a change other than the command position, and therefore the command position can be corrected without complicated calculation. Further, since it is only necessary to change the command position, the operator can learn the predictability of the characteristic, and the experience can be used for setting the command position.

Embodiment 2. FIG. 7 is a functional block diagram showing the overall functional configuration of the robot simulation apparatus according to the second embodiment of the present invention, and particularly illustrates the function of the CPU 20 driven by the ROM 25. In addition,
In the drawings, the same reference numerals and symbols as those in the above-mentioned embodiment indicate the same or corresponding components as those of the embodiment, and therefore, duplicated description will be omitted here.

FIG. 7 shows the output result of the corrected command position calculating means 10 shown in the first embodiment, and in order to reflect the output result in the command position storing means 2, the original command position is erased and the corrected command position is corrected. Is added to the command position storage means 2. The robot simulation apparatus according to the present embodiment stores a command position of a moving path and calculates a differential equation from the beginning to the end based on the stored command position by a difference method, a Runge-Kutta, a finite element method, or the like. When a moving path of the robot is generated, the generated moving path of the robot is displayed, and when the moving path of the robot is corrected, a part or all of the moving path of the robot is approximated by a Bezier curve, and Command position storage means 2 for storing the command position of the robot movement path and command position storage means 2 for correcting the movement path of the robot by Bezier curve.
The route generation means 3 for generating the movement route of the robot on the basis of the command position accumulated in, the passing point storage means 5 for storing the movement route of the robot obtained by the route generation means 3, and the route generation means 3. From the command position storage means 2, a correction position input means composed of the input device 27 for inputting the correction command position of the movement path of the robot and a command position in the vicinity of the correction command position designated by the correction position input means composed of the input device 27 are selected. Of the commanded position selecting means 7, the moving point corresponding to the commanded position selected by the commanded position selecting means 7 from the passing point storage means 5, and the moving path selected by the passing point selecting means 8. The front and rear passing point selecting means 9 for selecting the immediately preceding and succeeding passing points from the passing point storage means 5, and the input device 27.
The correction command position calculating means 10 for calculating the corrected command position based on the movement instruction given by the correction position input means, and the movement path corresponding to the correction command position output by the correction command position calculating means 10. Corrected pass point calculation means 11, correction path calculation means 12 for generating a corrected moving path output by the corrected pass point calculation means 11 and a path passing through the front and rear pass points output by the front and rear pass point selection means 9, and a correction command position. The command position correction means 13 for receiving the output result of the calculation means 10 and storing the corrected command position in the command position storage means 2, and the robot path obtained by the path generation means 3 and the robot corrected by the corrected path calculation means 12 And a display unit for displaying the route of (1), which can be an embodiment corresponding to the claims.

Therefore, the obtained corrected route is displayed on the Bezier curve on the display device 24, and the corrected moving route displayed on the display device 24 is evaluated by the brain judgment such as the experience of the operator. If it is judged, the above operation of command position correction is repeated, and command position correction can be easily performed without recalculating the change of the robot movement path due to command position correction over the entire motion equation. The effect of can be evaluated, and the movement path of the robot can be changed by using it, so that the operation rate of the robot simulation apparatus can be improved. Therefore, it is possible to easily generate the path of the robot when the command position is changed in the simulation work of the program of the industrial robot, and to shorten the movement command data of the robot and to examine the result. Can be done in time. Further, since it can be used to change the movement path of the robot, it is possible to improve the operation rate of the robot simulation apparatus.

In such an embodiment, in order to reflect the modification examination result in the movement instruction data of the original robot, the movement instruction data of this examination result is used as the instruction position storage means 2.
Can be forwarded to In addition, again, the route generation means 3
By generating a strict robot path by solving a differential equation with, it becomes possible to examine the validity of the approximate path based on the assumption.

Third Embodiment FIG. 8 is a functional block diagram showing the overall functional configuration of the robot simulation apparatus according to the third embodiment of the present invention. Note that, in the drawings, the same reference numerals and symbols as those of the above-described embodiment indicate the same or corresponding components as those of the embodiment, and therefore, duplicated description will be omitted here. FIG. 8 shows that the movement amount of the correction command point and the correction passage point is compared with the distance between the front and rear passage points based on the output results of the correction passage point calculation means 11 and the front and rear passage point selection means 9 shown in the first embodiment. And a warning display unit 15 for displaying the judgment result by lighting or blinking, or for notifying by voice. It is equipped with.

That is, the robot simulation apparatus according to the present embodiment stores the command position of the moving path, and based on the stored command position, the differential equations from the beginning to the end are calculated by the difference method, the Runge-Kutta, and the finite element method. And the like to generate a movement path of the robot, display the generated movement path of the robot, and when correcting the movement path of the robot, a part or all of the movement path of the robot is expressed by a Bezier curve. Approximately expresses and corrects by the Bezier curve to establish the movement path of the robot,
A command position storage means 2 for storing the command position of the movement path of the robot, and a path generation means 3 for generating the movement path of the robot based on the command positions accumulated in the command position storage means 2.
And a passing point storage means 5 for storing the moving path of the robot obtained by the path generating means 3 and an input device 27 for inputting a correction command position of the moving path of the robot obtained by the path generating means 3.
And a command position selecting means 7 for selecting from the command position storing means 2 a command position in the vicinity of the correction command position designated by the correction position input means composed of the input device 27. The passing point selecting unit 8 that selects the moving route corresponding to the selected command position from the passing point storing unit 5 and the passing points immediately before and after the moving route selected by the passing point selecting unit 8 are selected from the passing point storage unit 5. Front and rear passing point selection means 9, correction command position calculation means 10 for calculating a command position modified based on a movement command instructed by the correction position input means composed of the input device 27, and output of the correction command position calculation means 10. The corrected passing point calculating means 11 for calculating the moving path corresponding to the corrected command position, the corrected moving path output by the corrected passing point calculating means 11, and the output of the front and rear passing point selecting means 9 And modifying the route calculation unit 12 for generating a path through the longitudinal passage point that fixes passing point calculating means 11
From the output result of the front and rear passage point selection means 9, whether or not the assumption serving as the basis of the effectiveness that the movement amount of the correction command point and the correction passage point is sufficiently smaller than the distance between the front and rear passage points is satisfied. It is provided with a passing point interval determination means 14 for determining whether or not, and a display means for displaying the route of the robot obtained by the route generation means 3 and the route of the robot corrected by the corrected route calculation means 12. An embodiment corresponding to the term can be adopted.

Therefore, the Bezier curve is displayed on the display device 24 for the obtained correction route, the correction movement route displayed on the display device 24 is corrected by the brain judgment such as the experience of the operator, and the correction result can be automatically evaluated. When it is determined that the correction is insufficient, the above-described operation of command position correction is repeated, and the correction command position can be changed as necessary. The effect of command position modification can be easily and automatically evaluated without recalculating the movement equation of the robot due to the command position modification over the entire path. Since the movement path of the robot can be changed, the operating rate of the robot simulation apparatus can be improved. Therefore, it is possible to easily generate the path of the robot when the command position is changed in the simulation work of the program of the industrial robot, and to shorten the movement command data of the robot and to examine the result. Can be done in time. You can also use it to optimally change the robot's path of travel,
It is possible to improve the operation rate of the robot simulation device.

At this time, the reason why the movement amount of the correction command point and the correction passage point is sufficiently smaller than the distance between the front and rear passage points is that the control point QQ00 and the control point QQ03 are connected by a straight line, and By determining whether the movement amount is within 10%, it is determined whether or not the distance is sufficiently smaller than the distance between the front and rear pass points. That is, strictly speaking, when the commanded position is changed, the passing points before and after the commanded position are also affected, and the commanded position moves, but when the correction amount of the corrected commanded position is sufficiently smaller than the interval before and after that, Since the effect can be ignored, the modified route can be regarded as a curve passing through the front and rear passage points. In the embodiment having such a configuration, it is possible to prevent the route from being evaluated while the grounds of validity are not established, and to correct the wrong command position in advance. When the present invention is implemented, the warning display means 15 does not necessarily have to be independent of the display device 24 as in the present embodiment, and may be displayed in a part of the same screen. Produces the same effect.

Embodiment 4 FIG. 9 is a functional block diagram showing the overall functional configuration of the robot simulation apparatus according to the fourth embodiment of the present invention. Note that, in the drawings, the same reference numerals and symbols as those of the above-described embodiment indicate the same or corresponding components as those of the embodiment, and therefore, duplicated description will be omitted here. FIG. 9 shows that, in the second embodiment, from the output result of the correction passing point calculation means 11 and the result of the front and rear passing point selecting means 9, the movement amount of the correction command point and the correction passing point is compared with the distance between the front and rear passing points. It is provided with passing point interval discriminating means 14 for discriminating whether or not the assumption, which is the basis of the effectiveness of the present invention that it is sufficiently small, is satisfied, and warning display means 15 for displaying the discrimination result.

That is, the robot simulation apparatus according to the present embodiment stores the command position of the moving path, and based on the stored command position, the differential equations from the beginning to the end are calculated by the difference method, the Runge-Kutta, and the finite element method. And the like to generate a movement path of the robot, display the generated movement path of the robot, and when correcting the movement path of the robot, a part or all of the movement path of the robot is expressed by a Bezier curve. Approximately expresses and corrects by the Bezier curve to establish the movement path of the robot,
A command position storage means 2 for storing the command position of the movement path of the robot, and a path generation means 3 for generating the movement path of the robot based on the command positions accumulated in the command position storage means 2.
And a passing point storage means 5 for storing the moving path of the robot obtained by the path generating means 3 and an input device 27 for inputting a correction command position of the moving path of the robot obtained by the path generating means 3.
And a command position selecting means 7 for selecting from the command position storing means 2 a command position in the vicinity of the correction command position designated by the correction position input means composed of the input device 27. The passing point selecting unit 8 that selects the moving route corresponding to the selected command position from the passing point storing unit 5 and the passing points immediately before and after the moving route selected by the passing point selecting unit 8 are selected from the passing point storage unit 5. Front and rear passing point selection means 9, correction command position calculation means 10 for calculating a command position modified based on a movement command instructed by the correction position input means composed of the input device 27, and output of the correction command position calculation means 10. The corrected passing point calculating means 11 for calculating the moving path corresponding to the corrected command position, the corrected moving path output by the corrected passing point calculating means 11, and the output of the front and rear passing point selecting means 9 And modifying the route calculation unit 12 for generating a path through the longitudinal passage point that, corrected command position calculation means 1
From the output results of the command position correction means 13 for receiving the output result of 0 and storing the corrected command position in the command position storage means 2, the corrected passing point calculation means 11 and the front and rear passing point selecting means 9, The passing point interval determination unit 14 and the route generation unit 3 that determine whether or not the assumption that is the basis of the effectiveness that the movement amount of the corrected passing point is sufficiently smaller than the distance between the preceding and succeeding passing points is satisfied. Display means for displaying the robot path obtained by the above and the robot path corrected by the corrected path calculation means 12, which can be an embodiment corresponding to the claims.

Therefore, in addition to the features of the embodiment shown in FIGS. 7 and 8, the obtained correction route is displayed on the display device 24 as the Bezier curve, and the correction movement route displayed on the display device 24 is displayed. It is evaluated by the brain judgment of the worker's experience,
The correction result can be automatically evaluated, and if it is determined that the correction is insufficient, the above-described operation of command position correction is repeated, and the correction command position can be changed as necessary. The effect of command position modification can be easily and automatically evaluated without recalculating the movement equation of the robot due to the command position modification over the entire path. Since the movement path of the robot can be changed, the operating rate of the robot simulation apparatus can be improved. Therefore, it is possible to easily generate the path of the robot when the command position is changed in the simulation work of the program of the industrial robot, and to shorten the movement command data of the robot and to examine the result. Can be done in time. Further, since it can be used to change the movement path of the robot, it is possible to improve the operation rate of the robot simulation apparatus. In particular, in the embodiment having such a configuration, it is possible to prevent the route from being evaluated while the basis of the validity of the present invention is not established, and to correct the wrong command position in advance. The warning display means 15 is
It does not necessarily have to be independent of the display device 24, and the same effect can be obtained even if it is displayed on a part of the same screen of the display device 24.

Embodiment 5 In the above-described first to fourth embodiments, the commanded position is selected and moved based on the operator's instruction to obtain the corrected approximate route. However, as shown in FIG. 10, the operator's instruction is given. The intermediate pass point can be selected on the basis of and the corrected approximate path can be obtained by moving it. FIG. 10 is a functional block diagram showing the overall functional configuration of the robot simulation apparatus according to the fifth embodiment of the present invention. In particular, the CPU 2 driven by the ROM 25.
0 function will be described. 11 is an explanatory view showing a display example of a part of the route of the robot displayed by the robot simulation apparatus according to the fifth embodiment of the present invention, and FIG. 12 is a simulation of the robot according to the fifth embodiment of the present invention. It is a flowchart in the case of selecting an intermediate passage point of the device and moving it to generate a modified approximate path. Then, FIG. 13 is a display device 2 in operation for correcting a command position in the robot path displayed by the robot simulation device according to the fifth embodiment of the present invention.
It is explanatory drawing which shows an example of the screen of FIG. Note that, in the drawings, the same reference numerals and symbols as those of the above-described embodiment indicate the same or corresponding components as those of the embodiment, and therefore, duplicated description will be omitted here.

In the figure, 16 is an intermediate passage point selecting means for selecting an intermediate passage point near the position designated by the operator with the input device 27 and an intermediate passage point near the passage point selected by the passage point selecting means 8. Is. 17 is an intermediate passage point selecting means 1
It is an approximate route calculating means for calculating an approximate route by a Bezier curve from the output of 6 and the output of the passing point selecting means 8 and the output of the front and rear passing point selecting means 9. Reference numeral 18 is a correction intermediate passage point calculation means for calculating a command position corrected based on a movement instruction given by the operator by the input device 27. Reference numeral 19 is a modified approximate path calculation means for modifying the approximate path output by the approximate path calculation means 17 so as to pass through the modified passage point output by the modified intermediate passage point calculation means 18. In the robot simulation apparatus configured as described above, the intermediate passing point can be selected based on the operator's instruction and moved to obtain the modified approximate route. As in the case of the first embodiment, FIG. 11 shows an example in which the route generated by the route generation unit 3 based on the contents of the command storage unit 1 and the command position storage unit 2 is displayed on the display device 24. In the case where the route shown by the thick broken line in FIG. 11 interferes with the obstacle 50 such as a wall, the operator uses the input device 27 to instruct the intermediate passing point RR02 to be corrected. It shows a state in which the position designated by the operator is displayed on the display device 24 by the triangular pointing position pointer 55.

The operation of this embodiment will be described with reference to FIGS. 12 and 13. In step S21, the operator uses the input device 27 to instruct an intermediate passing point to be corrected. In step S22, the command position selecting means 7 selects the command position P1 near the position instructed by the operator, and in step S23, the passing point selecting means 8 sets the passing point corresponding to the command position P1 to the passing point storage means 5. To choose from.
In the vicinity of the position designated by the operator in step S24, the intermediate passing point RR01, which is in the vicinity of the passing point selected by the passing point selecting means 8 and is necessary for the calculation, is stored in the passing point storing means 5 by the intermediate passing point selecting means 16. Select from. In FIG. 11, the selected intermediate passage point RR02 is displayed with a star-shaped mark and displayed to the operator. The time obtained by normalizing the passing time at this time is s.
02. Furthermore, since four points are required to draw the Bezier curve, the intermediate passage point RR0 selected in step S25
In addition to 2, the intermediate passing point RR01 is selected by the intermediate passing point selecting means 16 from the passing point storing means 5. The time obtained by normalizing the passing time at this time is s. 01.

On the other hand, in step S26, step S
Select the command position before and after the command position selected in 22,
In step S27, the front-rear passage point selecting means 7 selects front-rear passage points corresponding to those command positions from the contents of the passage point storage means 5. Passing point selection means 6 in step S28
Using the selected passing points and the front and rear passing points selected by the front and rear passing point selecting means 7 and the intermediate passing points selected by the intermediate passing point selecting means 16, the Bezier curve matching these points is used as an approximate route to calculate an approximate route. The means 17 calculates and obtains. FIG.
1 and the moving path indicated by the thick broken line in FIG. 13 is an approximate path to be obtained, and the commanded positions P0 and R10 and the intermediate passing point RR01 are set.
Is a Bezier curve that passes through the intermediate passage point RR02 selected as. This is RR0 (s) represented by the following equation:
It is a curve of.

(Equation 7) Next, in step S29, the operator issues a position command to move the intermediate passing point RR02 selected using the input device 27 to a desired position. The operation of this position command is shown in FIG. The operator designates the modified intermediate passage point mdf.RR02 designated by the operator.

In FIG. 13, the intermediate passing point R to be corrected
R02 and the corrected intermediate passing point mdf.RR02 are displayed to the operator by a star-shaped mark. In step S30, the corrected passing point mdf.RR0 is set with the passing point R00 as the end point.
The Bezier curve passing through 2 is obtained by the modified approximate path calculation means 19 as the modified approximate path. Here, when the movement amount delt of the intermediate passing point designated by the operator is sufficiently smaller than the moving route distance between the two intermediate passing points R00 and R10, the velocity and the acceleration at the passing point and the intermediate passing point are large. Since it can be assumed that there is no difference, at the passing point R00,
It is assumed that the tangential direction, the curvature, etc. are constant, and at the same time, the tangential direction, the curvature, etc. are also constant at the other end point mdf.R10 of this Bezier curve. From these facts, the modified Bezier curve RR0 (s) shown by the bold solid line is expressed as follows.

[0078]

(Equation 8) Here, if this formula is used directly to display the curve on the display device 24, the efficiency of calculation and the like is poor. Therefore, if the intermediate variables t1 to t88 are set to improve the efficiency of the four arithmetic operations, Can be expressed as

T1 = 1.0-s; t2 = t1 * t1; t6 = s. 01 * s. 01; t7 = t6 * R0; t8 = t6 * s. 01; t9 = t8 * R0; t10 = s. 02 * s. 02; t11 = t10 * R0; t12 = t10 * s. 02; t13 = t12 * R0; t14 = RR02 * t6; t15 = RR02 * t8; t16 = RR01 * t10; t17 = RR01 * t12; t18 = s. 02 * t7; t19 = t12 * t7; t20 = t10 * t9; t21 = t8 * t10; t22 = R1 * t21; t25 = s. 02 * t9; t26 = s. 01 * t13; t27 = s. 01 * t11; t28 = t7-t9-t11 + t13-t14 + t
15 + t16-t17-3.0 * t18 + 2.0 * t1
9-2.0 * t20-t22 + R1 * t12 * t6 +
3.0 * t25-3.0 * t26 + 3.0 * t27; t30 = 1 / s. 01; t33 = s. 01 * t10; t34 = s. 02 * t6; t39 = s * s; t41 = s. 01 * delt; t43 = t10 * t10; t45 = t43 * s. 02; t49 = R0 * s. 01; t60 = 3.0 * s. 02 * t41 + 3.0 * t2
2 + 6.0 * t19 + 6.0 * t18-7.0 * RR0
1 * t43-2.0 * R0 * t45-4.0 * R1 * t
6 * t45 + 2.0 * t27 + 9.0 * t26-3.0
* T25 + 4.0 * t45 * t49 + 2.0 * t43 *
t9-2.0 * t45 * t7-12.0 * t43 * t4
9-7.0 * t12 * t9 + 3.0 * t43 * t7 +
8.0 * t20-6.0 * RR02 * t34 + 4.0 *
R1 * t8 * t43-2.0 * RR02 * t21; t62 = t6 * delt; t63 = t8 * delt; t69 = s. 01 * RR02; t84 = -2.0 * t10 * t69 + 3.0 * s.
02 * t15 + 4.0 * t10 * t14 + 6.0 * R1
* T43 * t6-8.0 * R1 * t8 * t12-3.0
* S. 02 * t49-3.0 * s. 01 * R1 * t43
+ 2.0 * R1 * s. 01 * t45 + 3.0 * t11-
8.0 * t13-3.0 * t16; t88 = 1 / t10; mdf.RR0 = R0 * t2 * t1-1 / (s.01-t
33-t6 + t34-s. 02 + t10) / s. 02 *
t30 * t28 * s * t2 + ¥ 1 / (-3.0 * s.0
1 + 3.0 * t33-5.0 * t34-5.0 * t10
-2.0 * t12 * s. 01 + 2.0 * t10 * t6 +
2.0 * t12 + 2.0 * s. 02 * s. 01 + 3.0
* T6 + 3.0 * s. 02) * t30 * t88 * (t6
0 + 7.0 * t43 * R0-3.0 * t62 + 3.0 *
t63 + 8.0 * t17 + 2.0 * RR01 * t45-
13.0 * t10 * t7-3.0 * t10 * t41-
3.0 * s. 02 * t63 + 3.0 * t10 * t62 +
3.0 * s. 02 * t69 + t84) * t1 * t39 +
1 / (2.0 * s.02-3.0) * (2.0 * R1 *
t12-3.0 * t10 * R1-delt) * t88 * t
39 * s;

Next, in step S31, in order to obtain the modified passing point mdf.RR01, the normalized passing time s of the end point, that is, the normalized passing time s = 0 of the starting point and the normalized passing time s = 1 of the end point. Is substituted into the modified Bezier curve of equation (19) to obtain.

(Equation 9)

Next, in step S32, the moving distance mdf.delt between the corrected passing point and the original passing point is obtained, and the position where the command position corresponding to this passing point is moved by mdf.delt based on the above assumption is the corrected command position. Calculated as mdf.P1.

(Equation 10)

[0082]

[Equation 11] In step S33, the correction command position mdf.P1 is displayed on the display device 24. FIG. 13 shows the displayed example. In step S34, the entire moving route mdf.RR1 (s) indicated by the thick solid line connected to the modified approximate route obtained in step S30 is calculated.

[0083]

(Equation 12) To implement this equation, JISX3010 (IS
It is described in the programming language C defined in O / IEC955). Here, the direct calculation of the above formula is
Inefficient because of redundant algebraic operations. Therefore, the terms that appear repeatedly are set as intermediate variables t1 to t128 to improve the efficiency of operation execution.

T1 = 1.0-s; t2 = t1 * t1; t4 = s. 02 * s. 02; t5 = 1 / t4; t7 = t4 * s. 02; t10 = 2.0 * R1 * t7-3.0 * t4 * R1
-Delt; t12 = 1 / (2.0 * s.02-3.0); t18 = s. 01 * delt; t20 = t4 * t4; t23 = t20 * s. 02; t26 = s. 01 * s. 01; t27 = t26 * R0; t30 = t26 * s. 01; t31 = t30 * delt; t33 = s. 01 * RR02; t42 = R0 * s. 01; t45 = t30 * R0; t51 = t26 * s. 02; t55 = 3.0 * s. 02 * t18-3.0 * s.
01 * R1 * t20 + 2.0 * R1 * s. 01 * t23
-13.0 * t4 * t27-3.0 * t4 * t18-
3.0 * s. 02 * t31 + 3.0 * s. 02 * t33
-2.0 * t4 * t33 + 4.0 * t4 * RR02 * t
26 + 6.0 * R1 * t20 * t26-8.0 * R1 *
t30 * t7-3.0 * s. 02 * t42 + 4.0 * t
23 * t42 + 2.0 * t20 * t45-2.0 * t2
3 * t27-12.0 * t20 * t42-7.0 * t7
* T45 + 3.0 * t20 * t27-6.0 * RR02
* T51-4.0 * R1 * t26 * t23; t58 = t30 * t4; t63 = R0 * t7; t65 = R0 * t4; t75 = t26 * delt; t80 = -7.0 * RR01 * t20-2. 0 * R
0 * t23 + 2.0 * RR01 * t23 + 6.0 * t7
* T27-3.0 * t75 + 3.0 * t4 * t75 +
8.0 * t4 * t45-8.0 * t63 + 3.0 * t6
5-3.0 * RR01 * t4 + 8.0 * RR01 * t
7; t95 = s * s; t97 = s. 12 * s. 12; t98 = s. 11 * s. 11; t99 = t98 * s. 11; t103 = mdf.R3 * t99; t108 = t98 * mdf.R3; t109 = t97 * s. 12; t115 = 2.0 * P2 * t99 * t97-RR1
2 * t99 + t97 * t103-s. 12 * P2 * t9
9-2.0 * s. 12 * t103 + t103-2.0 *
t108-t109 * t108-2.0 * P2 * t10
9 * t98 + 3.0 * s. 12 * t108 + 2.0 * R
R12 * t98; t117 = mdf.R3 * t97; t120 = mdf.R3 * t109; t128 = -s. 11 * RR12-3.0 * s. 1
1 * t117 + mdf.R3 * s. 11 + 2.0 * s. 11
* T120 + P2 * t109 * s. 11 + 2.0 * t1
17-t120 + RR11 * t109-mdf.R3 * s.
12 + RR11 * s. 12-2.0 * RR11 * t9
7; mdf.RR1 (s) = t12 * t10 * t5 * t2 * t
1 + 3.0 * (2.0 * t12 * t10 * t5-1 /
(-3.0 * s.01 + 3.0 * s.01 * t4-5.
0 * t51-5.0 * t4-2.0 * t7 * s. 01+
2.0 * t4 * t26 + 2.0 * t7 + 2.0 * s. 0
2 * s. 01 + 3.0 * t26 + 3.0 * s. 02) /
s. 01 * t5 * (t55 + 4.0 * R1 * t30 * t
20-2.0 * RR02 * t58 + 6.0 * s. 02 *
t27 + 3.0 * R1 * t58-3.0 * s. 02 * t
45 + 9.0 * s. 01 * t63 + 2.0 * s. 01 *
t65 + 3.0 * s. 02 * RR02 * t30 + 3.0
* T31 + 7.0 * t20 * R0 + t) / 3) * s * t
2 + 1 / s. 12 / (s.11-s.11 * t97-t
98 + s. 12 * t98-s. 12 + t97) / s. 1
1 * (t115 + t128) * t1 * t95 + P2 * t
95 * s; In step S35, the connection route obtained in step S34 is displayed on the display device 24.

As described above, even when the moving route is moved, when the distance between the two points of the moving route and the corrected moving route is sufficiently smaller than the distance between the passing points corresponding to the preceding and following moving routes, It can be assumed that the acceleration and velocity of the robot on the moving path are equal before and after correcting the command position,
Moreover, the dynamic interference force acting on the robot at the correction command position becomes equal, and the difference between the passing point and the correction command position based on the correction command position should be regarded as the same as the difference between the original command position and the passing point. And the commanded position is changed,
Strictly speaking, the passing points before and after it also move under the influence, but
When the correction amount of the correction command position is sufficiently smaller than the space before and after it, the correction path can be regarded as a passage point that is approximately obtained from the correction command position and a curve that passes through the front and rear passage points. Paying attention to the above, and by approximating the passing point approximately obtained from the corrected command position and the cubic Bezier curve passing through the preceding and following passing points, the calculation of the route simulation by the command position change is performed as the corrected command position. It is possible to obtain it only by calculating the path of the passing point immediately before and after that, and as a result, it is not necessary to calculate the multidimensional equation of motion over the entire path, and the amount of calculation can be reduced. In the robot simulation apparatus according to the present embodiment, the route correction is not limited to the command position or the passing point corresponding thereto, and the route correction can be instructed by moving an intermediate point therebetween.

The robot simulation apparatus according to the present embodiment stores the command position of the moving path, generates the moving path of the robot based on the stored command position of the moving path, and generates the moving path of the robot. Is displayed, and when correcting the movement path of the robot, a part or all of the movement path of the robot is approximately represented by a Bezier curve,
In a robot simulation device that establishes a movement path of a robot by correcting the Bezier curve, a command position storage unit 2 that stores a command position of the movement path of the robot, and a command position stored in the command position storage unit 2 are used. A route generation means 3 for generating the movement route of the robot based on the above, a passage point storage means 5 for storing the movement route of the robot obtained by the route generation means 3, and a movement route of the robot obtained by the route generation means 3. When the correction command position is input between the command positions by the correction intermediate position input means including the input device 27 for inputting the correction command position in the vicinity of the command position and the correction intermediate position input device including the input device 27, A command position selecting means 7 for selecting an intermediate position of command positions near the correction command position from the command position storing means 2, and a command position selecting means 7. The passing point selecting means 8 for selecting the moving path corresponding to the command position selected by the means 7 from the passing point storing means 5, and the passing points immediately before and after the moving path selected by the passing point selecting means 8 are the passing point storing means. The input device 27 is formed based on the front and rear passing point selecting means 9 selected from 5, the moving route selected by the passing point selecting means 8 and the passing points immediately before and after the moving route selected by the front and rear passing point selecting means 9. The intermediate passage point selecting means 16 for selecting an intermediate passage point according to the intermediate command position of the corrected intermediate position inputting means, and the moving path selected by the passing point selecting means 8 and the moving path selected by the front and rear passing point selecting means 9 immediately before and after. Passing point, intermediate passing point selecting means 16
Approximate path calculating means 17 for calculating an approximate path based on the Bezier curve based on the intermediate passing point selected in step 1, and a moving path corresponding to the intermediate command position output from the corrected intermediate position input means, which is an input device 27, is approximate path calculating means. A correction intermediate passage point calculation means 18 for generating a correction intermediate passage point as a correction of the movement path generated at 17, and a correction intermediate passage point calculation means 18 for correction of the movement path generated at the approximate route calculation means 17.
The modified approximate path calculating means 19 for calculating the approximate moving path corrected by the modified intermediate passing point calculated in step (4), and the corrected passing point calculating means for calculating the moving path corresponding to the correction command position output from the modified approximate path calculating means 19. 11, the corrected moving route output by the corrected passing point calculating unit 11 and the corrected route calculating unit 12 for generating a route passing through the front and rear passing points output by the front and rear passing point selecting unit 9, and the robot determined by the route generating unit 3. And display means for displaying the route of the robot corrected by the corrected route calculation means 12.
This can be an embodiment corresponding to the claims.

For example, in FIG. 13, the route between R00 and R10 corresponding to the command position P0 and the command position P1 is
When interfering with the wall 50, a point on the route between R00 and R10 interfering with the wall 50 can be selected as a target for route correction. In addition, it is possible to easily evaluate the effect of command position correction without having to recalculate the movement equation of the robot due to the path correction over the entire path. Can be improved. That is,
The Bezier curve is displayed on the display device 24 for the obtained correction route,
A point on the moving path other than the command position of the corrected moving path displayed on the display device 24 is set as a command target position, which can be corrected, and it is evaluated by the brain judgment such as the experience of the operator.
If it is determined that the correction is insufficient, it is executed by repeating the above-mentioned operation of correcting the movement path, and the change of the movement path of the robot due to the correction of the movement path is calculated over the entire motion equation. It is possible to easily evaluate the effect of the command movement path correction without re-calculating and to improve the operation rate of the robot simulation apparatus. Therefore, it is possible to easily generate the path of the robot when the command position is changed in the simulation work of the program of the industrial robot, and to correct the movement command data of the robot and examine the result. Can be done in time.

As in the case of the first embodiment, the correction route obtained by the robot simulation apparatus according to the present embodiment is the movement amount of the correction command position, the correction passage point, and the correction intermediate passage point of the correction movement route. Based on the assumption that the velocity and acceleration can be regarded as the same when is sufficiently smaller than the distance between the front and rear passing points, the assumption that the route can be represented by a Bezier curve is obtained.
After the corrected moving path is determined, the moving path data of the robot using the moving path reflecting this result is obtained by the path generating means 3 by the numerical solution method such as the differential method, the Runge-Kutta, the finite element method of the differential equation from the beginning to the end. It is desirable to solve the problem and then conduct rigorous examination and evaluation.

Embodiment 6 FIG. FIG. 14 is a functional block diagram showing the overall functional configuration of the robot simulation apparatus according to the sixth embodiment of the present invention. In particular, only the differences from the above-described embodiment will be described here. In the figure,
Since the same reference numerals and symbols as those in the above-mentioned embodiment indicate the same or corresponding components as those of the embodiment,
Here, duplicate description is omitted. 14, the modified passing point calculation means 1 is different from the embodiment shown in FIG.
In order to receive the output result of the correction command position calculation means 10 for obtaining the correction command position from the correction passage point obtained in 1 and to reflect it in the command position storage means 2, the original command position is erased and the corrected command position is corrected. A command position correction means 13 for storing the position in the command position storage means 2 is added.

The robot simulation apparatus of this embodiment stores the command position of the moving path, generates the moving path of the robot based on the stored command position of the moving path, and generates the moving path of the robot. Is displayed, and when correcting the movement path of the robot, a part or all of the movement path of the robot is approximately represented by a Bezier curve,
In a robot simulation device that establishes a movement path of a robot by correcting the Bezier curve, a command position storage unit 2 that stores a command position of the movement path of the robot, and a command position stored in the command position storage unit 2 are used. A route generation means 3 for generating the movement route of the robot based on the above, a passage point storage means 5 for storing the movement route of the robot obtained by the route generation means 3, and a movement route of the robot obtained by the route generation means 3. When the correction command position is input between the command positions by the correction intermediate position input means including the input device 27 for inputting the correction command position in the vicinity of the command position and the correction intermediate position input device including the input device 27, A command position selecting means 7 for selecting an intermediate position of command positions near the correction command position from the command position storing means 2, and a command position selecting means 7. The passing point selecting means 8 for selecting the moving path corresponding to the command position selected by the means 7 from the passing point storing means 5, and the passing points immediately before and after the moving path selected by the passing point selecting means 8 are the passing point storing means. The input device 27 is formed based on the front and rear passing point selecting means 9 selected from 5, the moving route selected by the passing point selecting means 8 and the passing points immediately before and after the moving route selected by the front and rear passing point selecting means 9. The intermediate passage point selecting means 16 for selecting an intermediate passage point according to the intermediate command position of the corrected intermediate position inputting means, and the moving path selected by the passing point selecting means 8 and the moving path selected by the front and rear passing point selecting means 9 immediately before and after. Passing point, intermediate passing point selecting means 16
Approximate path calculating means 17 for calculating an approximate path based on the Bezier curve based on the intermediate passing point selected in step 1, and a moving path corresponding to the intermediate command position output from the corrected intermediate position input means, which is an input device 27, is approximate path calculating means. A correction intermediate passage point calculation means 18 for generating a correction intermediate passage point as a correction of the movement path generated at 17, and a correction intermediate passage point calculation means 18 for correction of the movement path generated at the approximate route calculation means 17.
The modified approximate path calculating means 19 for calculating the approximate moving path corrected by the modified intermediate passing point calculated in step (4), and the corrected passing point calculating means for calculating the moving path corresponding to the correction command position output from the modified approximate path calculating means 19. 11, the corrected moving route output by the corrected passing point calculating unit 11 and the corrected route calculating unit 12 that generates a route passing through the front and rear passing points output by the front and rear passing point selecting unit 9, and the output of the corrected passing point calculating unit 11. Command position correction means 13 for receiving the result and storing the corrected command position in the command position storage means 2, and the robot path and corrected path calculation means 1 calculated by the path generation means 3.
Display means for displaying the route of the robot corrected in 2 is provided, which can be an embodiment corresponding to the claims.

Therefore, the obtained corrected route can be corrected by displaying the Bezier curve on the display device 24 and setting the point on the moving route other than the commanded position of the corrected moving route displayed on the display device 24 as the command target position. And, if it is judged that the correction is insufficient by evaluating it by the brain judgment such as the experience of the operator, it is executed by repeating the above-mentioned operation of the correction of the movement route. It is possible to easily evaluate the effect of the command movement path modification without recalculating the equation of motion over the entire path for changes in the robot's movement path due to the modification. It is possible to correct the equation of motion as the movement path over the entire path, and improve the operating rate of the robot simulation apparatus. Therefore, it is possible to easily generate the path of the robot when the command position is changed in the simulation work of the program of the industrial robot, and to correct the movement command data of the robot and examine the result. Can be done in time. Then, the equation of motion can be corrected by changing the command position of the robot by correcting the movement path, and the operation rate of the robot simulation apparatus can be improved. In particular, in such an embodiment, the modification study result can be reflected in the original robot program, and the program obtained as a result of this study can be transferred to the robot. Further, again, the path generating means 3 solves the differential equation to generate a strict robot path, so that the validity of the approximate path based on the assumption used in the present invention can be examined.

Embodiment 7 FIG. FIG. 15 is a functional block diagram showing the overall functional configuration of the robot simulation apparatus according to the seventh embodiment of the present invention. In particular, only the differences from the above-described embodiment will be described here. In the figure,
Since the same reference numerals and symbols as those in the above-mentioned embodiment indicate the same or corresponding components as those of the embodiment,
Here, duplicate description is omitted. 15, the modified passing point calculation means 1 is different from the embodiment shown in FIG.
From the output result of 1 and the output result of the front and rear passing point selection means 9,
The passing point interval determining means 14 and its determining means for determining whether or not the assumption that is the basis of the effectiveness that the movement amount of the correction command point and the correction passing point is sufficiently smaller than the distance between the front and rear passing points is satisfied. A warning display means 15 for displaying the determination result is added.

That is, the robot simulation apparatus according to the present embodiment stores the command position of the moving path, generates the moving path of the robot based on the stored command position of the moving path, and A robot that displays a moving path and corrects the moving path of the robot by approximating a part or all of the moving path of the robot with a Bezier curve and correcting the Bezier curve to establish the moving path of the robot. In the simulation device, the command position storage means 2 for storing the command position of the movement path of the robot, and the path generation means 3 for generating the movement path of the robot based on the command position accumulated in the command position storage means 2. The passing point storage unit 5 that stores the movement route of the robot obtained by the route generation unit 3; The correction command position is input between the command positions by the correction intermediate position input means composed of the input device 27 for inputting the correction command position in the vicinity of the command position on the movement path of the bot and the correction intermediate position input device composed of the input device 27. When input, the command position selecting means 7 for selecting the intermediate position of the command position near the correction command position from the command position storing means 2 and the moving point corresponding to the command position selected by the command position selecting means 7 Passing point selecting means 8 for selecting from the storing means 5, front and rear passing point selecting means 9 for selecting from the passing point storing means 5 passing points immediately before and after the moving route selected by the passing point selecting means 8, and passing point selecting means The intermediate command position of the corrected intermediate position input means composed of the input device 27 based on the passing points immediately before and after the moving path selected by the means 8 and the moving path selected by the front and rear passing point selecting means 9. Therefore, the intermediate passing point selecting means 16 for selecting the intermediate passing point, the passing points immediately before and after the moving route selected by the passing point selecting means 8 and the moving route selected by the front and rear passing point selecting means 9, and the intermediate passing point selecting means. An approximate path calculation means 17 for calculating an approximate path by a Bezier curve based on the intermediate passing point selected in 16, and the input device 2.
Correction intermediate passage point calculation means 18 for generating a correction intermediate passage point as a correction of the movement path generated by the approximate path calculation means 17 based on the movement path corresponding to the intermediate command position output by the correction intermediate position input means consisting of 7; As a modification of the moving path generated by the approximate path calculating means 17, a modified approximate path calculating means 19 for calculating an approximate moving path modified by the modified intermediate passing point calculated by the modified intermediate passing point calculating means 18, and a modified approximate path calculating The correction passage point calculation means 11 for calculating the movement path corresponding to the correction command position output by the means 19, the correction movement path output by the correction passage point calculation means 11, and the front and rear passage points output by the front and rear passage point selection means 9 are shown. Corrected route calculating means 12 for generating a passing route and corrected passing point calculating means 1
1 and the output results of the front and rear pass point selection means 9 make an assumption as the basis of the effectiveness that the movement amount of the correction command point and the correction pass point is sufficiently smaller than the distance between the front and rear pass points. It is provided with a passing point interval determination means 14 for determining whether or not there is and a display means for displaying the robot path obtained by the path generation means 3 and the robot path corrected by the corrected path calculation means 12. An embodiment corresponding to the claims can be made.

Accordingly, the Bezier curve is displayed on the display device 24 for the obtained correction route, the point on the movement route displayed on the display device 24 is set as the command target position, and it can be corrected, and the correction result is automatically calculated. If the evaluation can be made and it is determined that the correction is insufficient, the above-described operation of the movement route correction is repeated, and the specific position of the corrected movement route can be changed as necessary. The effect of the command position correction can be easily and automatically evaluated without changing the movement equation of the robot due to the correction of the movement route over the entire path, and the robot can be automatically evaluated. Since the movement path of the robot can be changed, the operating rate of the robot simulation apparatus can be improved. Therefore, it is possible to easily generate the path of the robot when the command position is changed in the simulation work of the program of the industrial robot, and to correct the movement command data of the robot and examine the result. Can be done in time. Then, the equation of motion can be corrected by changing the command position of the robot by correcting the movement path, and the operation rate of the robot simulation apparatus can be improved. In the embodiment having such a configuration, it is possible to prevent the route from being evaluated while the grounds of validity are not established, and to correct the wrong command position in advance. Note that the warning display means 15 does not necessarily have to be independent of the display device 24, and even if it is displayed in a part of the same screen, the same effect is produced.

Embodiment 8 FIG. FIG. 16 is a functional block diagram showing the overall functional configuration of the robot simulation apparatus according to the eighth embodiment of the present invention. In particular, only the differences from the above-described embodiment will be described here. In the figure,
Since the same reference numerals and symbols as those in the above-mentioned embodiment indicate the same or corresponding components as those of the embodiment,
Here, duplicate description is omitted. In FIG. 16, as compared with the embodiment shown in FIG.
In order to receive the output result of the corrected command position calculation means 10 for inputting the output result of 1 and to reflect it in the command position storage means 2, the original command position is erased and the corrected command position is stored as the command position storage means. 2 is added with the command position correction means 13 to be stored.

That is, the robot simulation apparatus of the present embodiment stores the command position of the moving path, generates the moving path of the robot based on the stored command position of the moving path, and A robot that displays a moving path and corrects the moving path of the robot by approximating a part or all of the moving path of the robot with a Bezier curve and correcting the Bezier curve to establish the moving path of the robot. In the simulation device, the command position storage means 2 for storing the command position of the movement path of the robot, and the path generation means 3 for generating the movement path of the robot based on the command position accumulated in the command position storage means 2. The passing point storage unit 5 that stores the movement route of the robot obtained by the route generation unit 3; The correction command position is input between the command positions by the correction intermediate position input means composed of the input device 27 for inputting the correction command position in the vicinity of the command position on the movement path of the bot and the correction intermediate position input device composed of the input device 27. When input, the command position selecting means 7 for selecting the intermediate position of the command position near the correction command position from the command position storing means 2 and the moving point corresponding to the command position selected by the command position selecting means 7 Passing point selecting means 8 for selecting from the storing means 5, front and rear passing point selecting means 9 for selecting from the passing point storing means 5 passing points immediately before and after the moving route selected by the passing point selecting means 8, and passing point selecting means The intermediate command position of the corrected intermediate position input means composed of the input device 27 based on the passing points immediately before and after the moving path selected by the means 8 and the moving path selected by the front and rear passing point selecting means 9. Therefore, the intermediate passing point selecting means 16 for selecting the intermediate passing point, the passing points immediately before and after the moving route selected by the passing point selecting means 8 and the moving route selected by the front and rear passing point selecting means 9, and the intermediate passing point selecting means. An approximate path calculation means 17 for calculating an approximate path by a Bezier curve based on the intermediate passing point selected in 16, and the input device 2.
Correction intermediate passage point calculation means 18 for generating a correction intermediate passage point as a correction of the movement path generated by the approximate path calculation means 17 based on the movement path corresponding to the intermediate command position output by the correction intermediate position input means consisting of 7; As a modification of the moving path generated by the approximate path calculating means 17, a modified approximate path calculating means 19 for calculating an approximate moving path modified by the modified intermediate passing point calculated by the modified intermediate passing point calculating means 18, and a modified approximate path calculating The correction passage point calculation means 11 for calculating the movement path corresponding to the correction command position output by the means 19, the correction movement path output by the correction passage point calculation means 11, and the front and rear passage points output by the front and rear passage point selection means 9 are shown. Receiving the output results of the corrected path calculation means 12 for generating a path to pass and the corrected command position calculation means 10, the corrected command position is stored in the command position storage means 2. A command position correcting means 13 for 憶,
From the output results of the corrected passing point calculation means 11 and the front and rear passing point selecting means 9, it is assumed that the amount of movement of the correction command point and the corrected passing point is sufficiently smaller than the distance between the front and rear passing points, which is the basis for the effectiveness. And a display unit for displaying the route of the robot determined by the route generation unit 3 and the route of the robot corrected by the corrected route calculation unit 12. This can be an embodiment corresponding to the claims.

Accordingly, the Bezier curve is displayed on the display device 24 for the obtained correction route, the point on the movement route displayed on the display device 24 is set as the command target position, and it can be corrected, and the correction result is automatically calculated. If it can be evaluated and it is determined that the correction is insufficient, the above-described operation of the movement route correction is repeated, and the specific position of the corrected movement route can be changed as necessary. The effect of the command position correction can be easily and automatically evaluated without changing the movement equation of the robot due to the correction of the movement route over the entire path, and the robot can be automatically evaluated. Since the movement path of the robot can be changed, the operating rate of the robot simulation apparatus can be improved. Therefore, it is possible to easily generate the path of the robot when the movement path is changed in the simulation work of the program of the industrial robot, and to shorten the correction of the movement command data of the robot and the examination of the result. Can be done in time. Then, the equation of motion can be corrected by changing the command position of the robot by correcting the movement path, and the operation rate of the robot simulation apparatus can be improved. In the embodiment having such a configuration, it is possible to prevent the route from being evaluated while the grounds of validity are not established, and to correct the wrong command position in advance.

Further, in the present embodiment, the program of the examination result can be transferred to the command position storage means 2 so that the revision examination result is reflected in the original robot program. Further, again, by solving the differential equation by the route generation means 3 to generate a strict robot route, it becomes possible to examine the validity of the approximate route based on the assumption. In the embodiment having such a configuration, it is possible to prevent the path from being evaluated while the grounds of validity are not established, and to correct the wrong command position in advance. The warning display means 15 is used as the display device 2.
4 does not necessarily have to be independent of 4, and the same effect can be obtained even when displayed in a part of the same screen. In the first to fourth embodiments described above, the commanded position is selected and moved based on the operator's instruction to obtain the corrected approximate route. However, in the fifth to eighth embodiments, , The intermediate passing point can be selected based on the operator's instruction and moved to obtain the modified approximate route. That is, the change command position designated by the Bezier curve may be between the command positions of the movement route.

Embodiment 9 FIG. FIG. 17 is a functional block diagram showing the overall functional configuration of the robot simulation apparatus according to the ninth embodiment of the present invention. In particular, only the differences from the above-described embodiment will be described here. In the figure,
Since the same reference numerals and symbols as those in the above-mentioned embodiment indicate the same or corresponding components as those of the embodiment,
Here, duplicate description is omitted. In FIG. 17, the function of the embodiment shown in FIGS. 2 and 14 is added. The functional configuration of the embodiment shown in FIG. 2 and FIG. 14 is provided, and the output of the passing point selecting means 8 is switched to the intermediate passing point selecting means 16 or the corrected passing point calculating means 11 according to the instruction of the operator. At the same time as switching by 20A, the switch 20A is closed when the output of the passing point selecting means 8 is guided to the intermediate passing point selecting means 16 and the output of the passing point selecting means 8 is guided to the corrected passing point calculating means 11. The switches 20A and 20B to be opened are added. Further, it has a switch 20C for receiving the output result of the correction command position calculation means 10 for inputting the output result of the correction passage point calculation means 11 and reflecting the output result in the command position storage means 2. When the switch 20C is closed, the original command position is erased, and the command position corrected by the command position correction means 13 to be stored in the command position storage means 2 is output.

That is, based on the operator's instruction in the above-described first to fourth embodiments, the command position is selected and moved to obtain the corrected approximate route, and the fifth to fifth embodiments. In the eighth aspect, an embodiment in which a configuration is selected in which the intermediate passage point is selected based on the instruction of the operator and the intermediate passage point is moved to obtain the modified approximate route can be adopted. That is, the correction command position specified by the Bezier curve is
It may be between the command position of the moving path and the command position of the moving path. In such an embodiment, the mode for correcting the command position and the mode for correcting the intermediate passage point can be switched depending on the case by the switches 20A, 20B, 20C.

By the way, also in the robot simulation apparatus of the embodiments shown in FIGS. 10 to 17, the command position of the moving path is stored, and the moving path of the robot is calculated based on the stored command position of the moving path. In a robot simulation apparatus that generates and displays the generated movement path of a robot, one point on the movement path displayed as the movement path of the robot is designated, and one or more points before and after the designated point are adjacent to each other. Is approximated by a Bezier curve, and the calculation of the movement path is corrected by assuming that the designated one command point is changed as the modification of the Bezier curve, thereby correcting the command point and its adjacency. One or more passing points before and after are set as the movement path of the robot, and this can be an embodiment corresponding to the claims.

Therefore, the obtained correction route is displayed as a Bezier curve, the displayed correction movement route is evaluated by the brain judgment such as the experience of the operator, and if it is determined that the correction is insufficient, the command point correction is performed. The above operation is repeated, and the effect of command point correction can be easily evaluated without recalculating the movement equation of the robot due to command point correction over the entire path. Therefore, it is possible to improve the operation rate of the robot simulation device, and to easily generate the robot path when the command point is changed in the simulation work of the industrial robot program, and The robot movement command data can be corrected and the result can be examined in a short time.

Further, the robot simulation apparatus according to the present embodiment stores the command position of the moving path, generates the moving path of the robot based on the stored command position of the moving path, and In a robot simulation device that displays a moving path, the moving path of the robot is approximately represented by a Bezier curve, one point of the approximated moving path is designated, and one or more points adjacent to the designated point are designated. The passing points before and after are approximated by a Bezier curve, and the calculation of the movement path of the robot is modified by changing the designated one command point as the modification of the Bezier curve, and the command point modified by the modification and its adjacency. One or more passing points before and after are set as the movement path of the robot, and this can be an embodiment corresponding to the claims. In particular, the Bezier curve in the robot simulation apparatus of the present embodiment is an approximate representation of its direction as a velocity vector and its curvature as an acceleration vector. Correspondence between the characteristics of the Bezier curve and the velocity vector and acceleration vector Match, and the closest approximation can be made.

Then, the command position of the point designated by the Bezier curve is changed by parallel movement of the velocity vector and the acceleration vector, and the constant of continuous command points is not changed. There is little error between the points that are stored and the movement path of the robot that is generated using the differential equation based on the stored movement command points, and there is a possibility that an unexpected trajectory will be formed by mutual conversion. Absent. Furthermore, the change command point specified by the Bezier curve is a command point for forming a movement path,
By changing the command point, the command point can be corrected without complicated calculations. Further, since it is only necessary to change the command point, the operator can learn the predictability of the characteristic, and the experience can be used for setting the command point.

[0105]

As described above, the robot simulation apparatus according to the first aspect designates one point displayed as the movement path of the robot, and one or more front and rear passing points adjacent to the designated point. Is approximated by a Bezier curve, and the calculation of the movement path is corrected by assuming that the change of the designated position of the designated one point is the correction of the Bezier curve, and the corrected designated position and the adjacent one point thereof are corrected. The passing points before and after the above are used as the movement path of the robot. Therefore, when the distance between the two points of the moving path approximated by a Bezier curve and the corrected moving path is sufficiently smaller than the distance between the passing points corresponding to the front and rear moving paths, the command position on the moving path is corrected. The same before and after, the dynamic interference force acting on the robot at the correction command position is also equal, and the difference between the passing point and the correction command position based on the correction command position is the same as the difference between the original command position and the passing point. If the correction amount of the correction command position is sufficiently smaller than the distance before and after the correction command position, the correction path is regarded as a curve that passes through the pass point approximately obtained from the correction command position and the pass points before and after it. It is possible to perform a route simulation by changing the commanded position by approximating it with a cubic Bezier curve that passes through the passing point approximately obtained from the corrected commanded position and the front and back passing points. It is possible to obtain the calculation only by calculating the corrected command position and the path of the passing point immediately before and after the corrected command position, and as a result, it is not necessary to calculate the multidimensional equation of motion over the entire path, and the calculation amount can be reduced. . Therefore, it is possible to easily evaluate the effect of command position correction without recalculating the movement equation of the robot due to the correction of the command position over the entire path of the motion equation. The rate can be improved.

According to a second aspect of the present invention, there is provided a robot simulation apparatus which approximates a movement path of the robot by a Bezier curve,
One point of the approximated movement path is designated, one or more passing points before and after the designated point are approximated by a Bezier curve, and the change of the commanded position of the designated one point is described above. As the correction of the Bezier curve, the calculation of the moving path of the robot is corrected, and the corrected command position and the passing points before and after the adjacent one or more points are set as the moving path of the robot. Therefore, when the distance between the two points of the moving path approximated by a Bezier curve and the corrected moving path is sufficiently smaller than the distance between the passing points corresponding to the front and rear moving paths, the command position on the moving path is corrected. The same before and after, the dynamic interference force acting on the robot at the correction command position is also equal, and the difference between the passing point and the correction command position based on the correction command position is the same as the difference between the original command position and the passing point. If the correction amount of the correction command position is sufficiently smaller than the distance before and after the correction command position, the correction path is regarded as a curve that passes through the pass point approximately obtained from the correction command position and the pass points before and after it. By approximating the passing point that is approximately obtained from the correction command position and the cubic Bezier curve that passes through the preceding and following passing points,
It is possible to obtain the calculation of the path simulation by changing the commanded position only by calculating the path of the corrected commanded position and the passing point immediately before and after it, and as a result, it is not necessary to calculate the multidimensional equation of motion over the entire path, and the calculation is performed. The amount can be reduced. Moreover, since the command position corrected by the correction command position and the passing points before and after the adjacent one or more points are used as the movement path of the robot,
The movement path of the robot when the command position is changed can be easily generated, and the movement command data of the robot can be corrected and the result can be examined in a short time. Therefore, it is possible to easily evaluate the effect of command position correction without recalculating the movement equation of the robot due to the correction of the command position over the entire path of the motion equation. The rate can be improved.

In the robot simulation apparatus according to the third aspect of the present invention, the Bezier curve is approximately represented by a velocity vector in its direction and an acceleration vector in its curvature. In addition, the direction is defined as a velocity vector, and its curvature is approximated as an acceleration vector. The characteristic of the Bezier curve and the correspondence between the velocity vector and the acceleration vector are matched, and the closest approximation can be made.

In the robot simulation apparatus according to a fourth aspect of the present invention, the change of the command position of the point designated by the Bezier curve is a parallel movement of the velocity vector and the acceleration vector. One of
In addition to the effect described in No. 3, since the command position of the moving path is not changed except for the position information of the continuous command position, the command position of the moving path is stored and the differential equation is used based on the stored command position of the moving path. The error between the robot and the generated movement path of the robot is small, and there is no possibility that an unexpected movement path is formed by mutual conversion.

In the robot simulation apparatus according to a fifth aspect of the present invention, the correction command position designated by the Bezier curve is the command position of the movement path. In addition to the effect of (3), the command position is used to form the movement path, and since the command position is not changed, the command position can be corrected without complicated calculation. Further, since it is only necessary to change the command position, the operator can learn the predictability of the characteristic, and the experience can be used for setting the command position.

According to another aspect of the robot simulation apparatus of the present invention, the correction command positions designated by the Bezier curve are between the command positions of the movement path.
In addition to the effect described in any one of claims 4 to 4, it is possible to specify an arbitrary point on the moving path that interferes, and the operation is easy.

According to another aspect of the present invention, there is provided the robot simulation device, wherein the correction command position designated by the Bezier curve is between the command position of the moving path and the command position of the moving path. In addition to the effect described in any one of 4, it is possible to specify an arbitrary point on the movement route,
There is no need to search for the command position.

A robot simulation apparatus according to an eighth aspect stores a command position of a moving path, generates a moving path of the robot based on the stored command position of the moving path, and stores the generated moving path of the robot. When displaying and correcting the movement path of the robot, a part or all of the movement path of the robot is approximated by a Bezier curve and is corrected by the Bezier curve to establish the movement path of the robot. Therefore, when the distance between the two points of the moving path approximated by a Bezier curve and the corrected moving path is sufficiently smaller than the distance between the passing points corresponding to the front and rear moving paths, the command position on the moving path is corrected. The same before and after, the dynamic interference force acting on the robot at the correction command position is also equal, and the difference between the passing point and the correction command position based on the correction command position is the same as the difference between the original command position and the passing point. If the correction amount of the correction command position is sufficiently smaller than the distance before and after the correction command position, the correction path is regarded as a curve that passes through the pass point approximately obtained from the correction command position and the pass points before and after it. It is possible to perform a route simulation by changing the commanded position by approximating it with a cubic Bezier curve that passes through the passing point approximately obtained from the corrected commanded position and the front and back passing points. It is possible to obtain the calculation only by calculating the corrected command position and the path of the passing point immediately before and after the corrected command position, and as a result, it is not necessary to calculate the multidimensional equation of motion over the entire path, and the calculation amount can be reduced. . Moreover, since the command position corrected by the correction command position and one or more adjacent passing points before and after the command position are used as the movement path of the robot, the movement path of the robot when the command position is changed. Can be easily generated, and the movement command data of the robot can be corrected and the result can be examined in a short time. Therefore, it is possible to easily evaluate the effect of command position modification without having to recalculate the movement equation of the robot due to the command position modification over the entire path. Can be improved.

In addition to the effect according to the eighth aspect, the robot simulation apparatus according to the ninth aspect further receives the output result of the corrected command position calculation means and reflects it in the command position storage means. Since the original command position is erased and the command position correction means for storing the corrected command position in the command position storage means is provided,
In order to reflect the correction examination result in the movement command data of the original robot, the movement instruction data of this examination result can be transferred to the command position storage means 2, and the differential equation is solved again to determine the exact robot path. By generating, it is possible to examine the validity of the approximate path based on the assumption.

According to a tenth aspect of the present invention, in addition to the effect of the eighth or ninth aspect, the robot simulation apparatus further uses the output result of the modified passing point calculating means and the output result of the front and rear passing point selecting means. , The distance in the vertical direction from the straight line connecting the passing points before and after the corrected moving path is 10
Equipped with a passing point interval determination means for determining whether the movement is less than or equal to a percentage and a warning display means for displaying the determination result, the route is evaluated while the grounds of validity are not established. As a result, it is possible to prevent the wrong command position from being corrected in advance.

A robot simulation apparatus according to an eleventh aspect stores a command position of a moving path, generates a moving path of the robot based on the stored command position of the moving path, and stores the generated moving path of the robot. When displaying and correcting the movement path of the robot, a part or all of the movement path of the robot is approximated by a Bezier curve, and the Bezier curve is corrected. Therefore, when the distance between the two points of the moving path approximated by a Bezier curve and the corrected moving path is sufficiently smaller than the distance between the passing points corresponding to the front and rear moving paths, the command position on the moving path is corrected. The same before and after, the dynamic interference force acting on the robot at the correction command position is also equal, and the difference between the passing point and the correction command position based on the correction command position is the same as the difference between the original command position and the passing point. If the correction amount of the correction command position is sufficiently smaller than the distance before and after the correction command position, the correction path is regarded as a curve that passes through the pass point approximately obtained from the correction command position and the pass points before and after it. It is possible to perform a route simulation by changing the commanded position by approximating it with a cubic Bezier curve that passes through the passing point approximately obtained from the corrected commanded position and the front and back passing points. Calculating a correction command position and the immediately preceding, it possible to obtain only the calculation of the path of the passing point immediately after, as a result, is unnecessary to calculate a multiple equation of motion over the entire path,
The amount of calculation can be reduced. In addition, the commanded position corrected by the corrected moving path and one or more adjacent passing points before and after the corrected position are used as the moving path of the robot. Therefore, the moving path of the robot when the commanded position is changed. Can be easily generated, and the movement command data of the robot can be corrected and the result can be examined in a short time. Therefore, it is possible to easily evaluate the effect of command position correction without recalculating the movement equation of the robot due to the correction of the command position over the entire path of the motion equation. The rate can be improved.

In addition to the effect of the eleventh aspect, the robot simulation apparatus of the twelfth aspect further receives the output result of the modified passing point calculation means and reflects it in the command position storage means. Since the original command position is erased and the command position correction means for storing the corrected command position in the command position storage means is provided, the correction study result should be reflected in the movement command data of the original robot. The movement command data resulting from this examination can be transferred to the command position storage means 2, and the differential equation is solved again to generate a strict robot path.
It is possible to examine the validity of the approximation path based on the assumption.

According to a thirteenth aspect of the present invention, in addition to the effect of the eleventh aspect or the twelfth aspect, the robot simulation apparatus further uses the output result of the modified passing point calculating means and the output result of the front and rear passing point selecting means. , The distance in the vertical direction from the straight line connecting the passing points before and after the corrected moving path is 1
Since it is provided with a passing point interval determination means for determining whether or not the movement is 0% or less and a warning display means for displaying the determination result, the route is evaluated while the basis of validity is not established. As a result, it is possible to prevent the wrong command position from being corrected in advance.

[Brief description of the drawings]

FIG. 1 is a block circuit diagram showing an overall configuration of a robot simulation apparatus according to an embodiment of the present invention.

FIG. 2 is a functional block diagram showing an overall functional configuration of the robot simulation apparatus according to the first embodiment of the present invention.

FIG. 3 is an explanatory diagram showing a display example of a part of the route of the robot displayed by the robot simulation apparatus according to the first embodiment of the present invention.

FIG. 4 is an explanatory diagram showing an example of a screen of a display device during a work for correcting a commanded position in a path of the robot displayed by the robot simulation device according to the first embodiment of the present invention.

FIG. 5 is a flow chart diagram showing an operation procedure of a corrected path calculating means in the robot simulation apparatus according to the embodiment of the present invention.

FIG. 6A is an explanatory diagram for explaining a Bezier curve and its control points, and FIG. 6B is a diagram showing modified paths generated by a robot simulation apparatus according to an embodiment of the present invention. It is explanatory drawing which shows an example.

FIG. 7 is a functional block diagram showing an overall functional configuration of a robot simulation apparatus according to a second embodiment of the present invention.

FIG. 8 is a functional block diagram showing an overall functional configuration of a robot simulation apparatus according to a third embodiment of the present invention.

FIG. 9 is a functional block diagram showing an overall functional configuration of a robot simulation apparatus according to a fourth embodiment of the present invention.

FIG. 10 is a functional block diagram showing an overall functional configuration of a robot simulation apparatus according to a fifth embodiment of the present invention.

FIG. 11 is an explanatory diagram showing a display example of a part of the path of the robot displayed by the robot simulation apparatus according to the fifth embodiment of the present invention.

FIG. 12 is a diagram showing a fifth embodiment of the present invention in which a robot simulation device is selected with an intermediate passing point;
It is a flow chart at the time of moving it and generating a correction approximate path.

FIG. 13 is an explanatory diagram showing an example of a screen of a display device during work for correcting a command position in the robot path displayed by the robot simulation device according to the fifth embodiment of the present invention.

FIG. 14 is a functional block diagram showing an overall functional configuration of a robot simulation apparatus according to a sixth embodiment of the present invention.

FIG. 15 is a functional block diagram showing an overall functional configuration of a robot simulation apparatus according to a seventh embodiment of the present invention.

FIG. 16 is a functional block diagram showing an overall functional configuration of a robot simulation apparatus according to an eighth embodiment of the present invention.

FIG. 17 is a functional block diagram showing an overall functional configuration of a robot simulation apparatus according to a ninth embodiment of the present invention.

FIG. 18 is a block diagram showing an overall configuration of a conventional robot simulation device.

FIG. 19 is a functional configuration diagram processed by a control program of a conventional robot simulation apparatus.

[Explanation of symbols]

2 command position storage means, 3 route generation means, 5 passing point storage means, 7 command position selecting means, 8 passing point selecting means, 9 front and rear passing point selecting means, 10 correction command position calculating means, 11 correction passing point calculating means, 12 modified route calculation means, 13 command position correction means, 14 passing point interval determination means, 15 warning display means, 16 intermediate passing point selecting means, 17 approximate route calculating means, 18 corrected intermediate passing point calculating means, 19 corrected approximate route calculation Means, 24 display device,
27 Input device.

Claims (13)

[Claims] 1. A robot simulation apparatus for storing a commanded position of an input moving path, generating a robot moving path based on the stored commanded position, and displaying the generated robot moving path. , Specify one point displayed as the movement path of the robot,
The passing point before and after the designated point adjacent to the designated point is approximated by a Bezier curve, and the movement path is calculated on the assumption that the commanded position of the designated point is changed as the modification of the Bezier curve. 1. A robot simulation apparatus, characterized in that a corrected command position and one or more adjacent passing points before and after the corrected command position are used as the moving path of the robot. 2. A robot simulation apparatus for storing a commanded position of an input moving path, generating a robot moving path based on the stored commanded position, and displaying the generated robot moving path. , The moving path of the robot is approximated by a Bezier curve, one point of the approximated moving path is designated, and one or more passing points adjacent to the designated point are approximated by a Bezier curve. Then, the calculation of the movement path of the robot is corrected by using the change of the designated command position of the designated one point as the correction of the Bezier curve, and the corrected command position and the passing points before and after the one or more adjacent points are corrected. A robot simulation device characterized by being a movement path of the robot. 3. The robot simulation apparatus according to claim 1, wherein the Bezier curve is approximately represented by a velocity vector in a direction thereof and an acceleration vector in a curvature thereof. 4. The change of the command position of the point designated by the Bezier curve is a parallel movement of the velocity vector and the acceleration vector, according to any one of claims 1 to 3. Robot simulation device. 5. The robot simulation apparatus according to claim 1, wherein the correction command position designated by the Bezier curve is a command position. 6. The robot simulation according to claim 1, wherein the correction command position designated by the Bezier curve is a position between command positions of a movement path. apparatus. 7. The correction command position designated by the Bezier curve is a command position of a movement route and a position between command positions of the movement route, according to any one of claims 1 to 4. The robot simulation apparatus described in 1. 8. A robot movement path is generated based on the stored command position of the input movement path, the generated movement path of the robot is displayed, and the movement of the robot is moved. When a path is modified, a part or all of the movement path of the robot is approximated by a Bezier curve, and the robot's simulation device that corrects the Bezier curve to establish the movement path of the robot A command position storing means for storing a position; a path generating means for generating a moving path of the robot based on the command position accumulated in the command position storing means; and a moving path of the robot obtained by the path generating means. Passing point storage means for storing the correction point input means for inputting a correction command position of the movement path of the robot obtained by the path generation means. Means, command position selecting means for selecting a command position in the vicinity of the correction command position designated by the correction position input means from the command position storing means, and a movement path corresponding to the command position selected by the command position selecting means. Passing point selecting means for selecting from the passing point storage means; front and rear passing point selecting means for selecting from the passing point storage means passing points immediately before and after the moving route selected by the passing point selecting means; Correction command position calculation means for calculating a command position corrected based on the movement instruction specified by the input means, and correction passage point calculation means for calculating a movement path corresponding to the correction command position output by the correction command position calculation means. And a correction route calculation for generating a correction movement route output by the correction passage point calculation unit and a route passing through the front and rear passage points output by the front and rear passage point selection unit. A robot simulation apparatus comprising: a means and a display means for displaying the robot path obtained by the path generation means and the robot path corrected by the corrected path calculation means. 9. An original command position is erased to receive the output result of the corrected command position calculation means, and the output result is reflected in the command position storage means, and the corrected command position is stored in the command position storage. 9. The robot simulation apparatus according to claim 8, further comprising command position correction means for storing the command position correction means in the means. 10. Further, based on the output result of the corrected passing point calculating means and the output result of the front / rear passing point selecting means, the distance in the vertical direction from the straight line connecting the front and rear passing points of the corrected moving path is 10%. 10. The robot simulation apparatus according to claim 8 or 9, further comprising: passing point interval determination means for determining whether or not the movement is as follows, and warning display means for displaying the determination result. . 11. A movement path of a robot is generated based on the stored command position of the input movement path, the generated movement path of the robot is displayed, and the movement of the robot is moved. When modifying a path, a part or all of the moving path of the robot is approximately represented by a Bezier curve, and the robot moving path is established by modifying the Bezier curve. A command position storage unit that stores a command position, a route generation unit that generates a movement route of the robot based on the command positions accumulated in the command position storage unit, and a movement route of the robot that is obtained by the route generation unit. And a correction command near the command position of the movement path of the robot obtained by the path generation means. Position when the correction command position is input between the command positions by the correction intermediate position input device and the correction intermediate position input device, the command position memory stores the intermediate position of the command position near the correction command position. Command position selecting means for selecting from the means, passing point selecting means for selecting a moving path corresponding to the command position selected by the command position selecting means from the passing point storage means, and a moving path selected by the passing point selecting means The front and rear pass point selecting means for selecting the pass points just before and after the pass point from the pass point storage means, and the pass just before and after the moving route selected by the pass point selecting means and the moving route selected by the front and rear pass point selecting means. An intermediate passage point selecting means for selecting an intermediate passage point according to an intermediate command position of the corrected intermediate position input means on the basis of a point; and a movement route selected by the passage point selecting means, Approximate route calculation means for calculating an approximate route by a Bezier curve based on pass points immediately before and after the moving route selected by the rear pass point selecting means, and intermediate pass points selected by the intermediate pass point selecting means; A corrected intermediate passing point calculating means for generating a corrected intermediate passing point as a correction of the moving path generated by the approximate path calculating means for the moving path corresponding to the intermediate command position output by the position input means; and the approximate path calculating means. As a correction of the generated movement path, a correction approximate path calculation means for calculating an approximate movement path corrected by the correction intermediate passage point calculated by the correction intermediate passage point calculation means, and a correction command position output by the correction approximate path calculation means Before the output of the corrected passing point calculating means for calculating the moving path corresponding to It is characterized by further comprising: a corrected route calculating means for generating a route passing through the passing point; and a display means for displaying the route of the robot obtained by the route generating means and the route of the robot corrected by the corrected route calculating means. Robot simulation device. 12. In order to receive the output result of the corrected passing point calculation means and reflect it in the command position storage means, the original command position is erased and the corrected command position is stored in the command position storage. 12. The robot simulation apparatus according to claim 11, further comprising command position correction means for storing in the means. 13. Further, based on the output result of the corrected passing point calculating means and the output result of the front / rear passing point selecting means, the distance in the vertical direction from the straight line connecting the front and rear passing points of the corrected moving path is 10%. 13. The robot simulation apparatus according to claim 11, further comprising: passing point interval determination means for determining whether or not the movement is as follows, and warning display means for displaying the determination result. .