JPH1158276A - Off-line simulation system of robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an off-line simulation system for a robot not requiring a control algorithm to be constructed on a user interface. SOLUTION: A work station 10 to be a user interface and a robot control device 20 are connected to each other by a telecommunication line such as a telephone line, etc., on this system. A teaching data of an action program to be a simulation object is converted to an action command data by an interpreter in order, and it is transmitted to the robot control device 20 by using interfaces 13, 14 and the telecommunication line 30. The robot control device 20 carries out a route plan by using a control algorithm which it originally has, calculates an interpolation point in order and transfers it to the work station 10. The work station 10 displays an action route on a display 40 by a sequence of points, etc., by using a 3D graphic display function in accordance with these interpolation point data and shape data of the robot and the work.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an off-line simulation system for an industrial robot (hereinafter simply referred to as "robot").

[0002]

2. Description of the Related Art As one method for teaching a robot off-line, a computer (off-line programming device) is prepared separately from a control device (hereinafter, referred to as a "robot control device") for controlling an actual robot. ,
Virtually build a robot on this computer, and operate this virtually built robot with key operation,
There is a method of creating an operation program. As an extension of this method, there is known an off-line simulation system in which a created operation program is reproduced (operation simulation) on a computer.

[0003]

The above system is very useful in that, in addition to the creation of an operation program, the operation of the operation program can be confirmed, and the operation program can be modified based on the offline operation. There are, however, significant challenges in actually adopting it.

That is, when performing an operation simulation using the above-described conventional system, a control algorithm equivalent to that used when actually controlling a robot (actual machine) is constructed on a computer used as a user interface. There is a need to. These algorithms and related data include, for example, those for determining the contents of acceleration / deceleration control in a manner equivalent to that of the robot control device and executing interpolation processing, inverse transformation processing, and the like. In short, on the computer used as the user interface,
It is necessary to construct a control algorithm that is almost equivalent to a robot control device actually used for controlling a robot.

If the control algorithm prepared on the user interface side is simplified, this burden can be reduced, but the accuracy of the simulation naturally decreases.
Therefore, in order to perform an accurate operation simulation with the conventional method, a large number of man-hours are required to construct a control algorithm on a user interface, and it is difficult to provide an accurate offline system in a short period of time at low cost. Was.

Accordingly, an object of the present invention is to provide an off-line simulation that can easily execute a robot operation simulation based on an operation program by eliminating the burden of preparing control algorithms and related data that require a large work load on the user interface side. It is to provide a system.

From another point of view, the present invention is based on the basic idea that a control algorithm originally provided in a robot controller is borrowed via a communication line instead of preparing a control algorithm on a user interface side. Taking advantage of this characteristic, it is also intended to make it possible to use an off-line system from a terminal using a telephone line even in a remote place, thereby eliminating the need to purchase an off-line system individually.

[0008]

According to the present invention, a computer is connected to a robot controller which can be used for controlling an actual robot, and the operation of a virtual robot on the computer is controlled by the connected robot controller. And calculate
The object is solved by transmitting the calculation result to a computer and outputting the operation contents to a display device or the like based on the transmitted result.

That is, according to the present invention, of the algorithms and related data required to be input to the computer by the above-mentioned conventional method, the part for calculating the motion of the robot (trajectory planning, movement command creation, etc.) is a robot control device. Paying attention to the functions that are naturally prepared for the robot, and borrowing part of the functions of the robot controller for those parts eliminates the enormous burden of building a control algorithm equivalent to the robot controller on a computer It was made.

According to the present invention, a computer constituting a user interface, connection means for connecting the computer to a robot controller equipped with a robot control algorithm, and a simulation execution command for an operation program to be simulated. Means for causing the robot control device to calculate the operation of the robot based on the operation program when receiving the information, means for transmitting the calculation result to the computer via the connection means, and transmission of the calculation result from the robot control device to the computer. An offline simulation system for a robot is provided that includes a simulation result display unit that displays a result of an operation simulation based on a calculation result obtained.

[0011] The connection means between the robot controller and the computer may include a telephone line. It is preferable that, of the various components of the offline system, at least the operation means capable of inputting the simulation execution command and the simulation result display means are attached to a computer constituting the user interface.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows the overall configuration of an off-line simulation system according to the present invention in a main block. As shown in FIG. 1, the entire system includes a workstation 10 used as an offline programming device, a robot control device 20, a communication line 30 connecting them, a display 40 attached to the workstation 10, and a keyboard 50.

The workstation 10 constitutes a user interface, and the hardware configuration is not particularly different from a normal one. A memory 12, an interface (communication interface) 13 with the robot controller 20, and an interface 1 with the display 30 are provided to the CPU designated by the reference numeral 11 via the bus 16.
4. The input / output device 15 for the keyboard 50 and the like are connected.

The memory 12 includes a ROM, a RAM, a nonvolatile memory, and the like. From the viewpoint of the configuration including the software, blocks composed of the memory 12 and related circuits include “robot and workpiece shape data”, “3D graphic display”, “interpreter”, “teaching data”.
And the like.

A program and related parameters required for processing (logical interface between the workstation 10 and the robot controller 20) at the time of executing a simulation described later with reference to FIG. 2 are also stored in the memory 12. In the following description, these will be referred to as "the interface with the robot control device". Also,
For temporary storage of data necessary for various processes performed by the CPU 11, a memory area constituted by a RAM is used.

3D provided to workstation 10
The graphic display function displays a robot, a work, peripheral devices, tools, and the like on the screen of the display 40, and the above-described “robot and work shape data” is used for shape display on the screen.

In a device such as a robot having a mechanism such as a joint, the shape of each link is recorded as data.
Also, change the position relationship between links (rewrite)
It is recorded in a possible manner. For example, in a rotating joint,
The position of the rotation axis and its movable range are recorded according to the simulation target robot.

"Teaching data" is constituted by data describing the operation of the robot. The data includes not only the data of the positions of the teaching points but also the order of the teaching points, the moving speed between the points, the interpolation format, and the like. Further, it may include not only an operation command of the robot, but also an I / O command and a command of a register, or a control command such as if to then and call for controlling the robot program itself.

An "interpreter" is a software for interpreting teaching data and calculating the behavior of the robot every moment (including I / O and the like, not limited to motion) when the teaching data is executed by an actual robot. It is. As for the operation command, it interprets the operation command in the teaching data and passes the target position, speed, interpolation type, etc. to the robot controller (via the "interface with the robot controller"), (The term "joint" is not limited to a rotary joint but includes the entire movable part such as a linear joint), that is, the interpolation data is queried.

The "interface with the robot controller" sends the target position, speed, interpolation type and the like included in the operation command interpreted by the interprinter to the actual robot controller according to a predetermined protocol. Further, as a result of the execution of the sent operation command by the robot controller, interpolated data is received every moment (even at a fixed time interval or not constant). The received interpolated data is returned to the interprinter.

The display interface 14 and the keyboard I / O 15 are each provided with a display 4 for providing a display screen with a 3D graphic display function.
0 (CRT, LCD, etc.) and workstation 10
This is an input / output device for the keyboard 50 constituting the operation unit. The display 40 will be described later in detail with reference to FIG.

On the other hand, the robot controller 20 is basically the same as the one usually used for controlling the actual robot. Reference numeral 21 denotes a CPU constituted by a microprocessor, which is connected to a digital servo circuit, not shown here, in addition to a memory 22 and an interface (communication interface) 23 with the workstation controller 20 via a bus 24. An axis control unit, an interface with a teaching operation panel, and the like are connected. Although not necessary in the present invention, when controlling the actual robot, the actual robot is connected to the output side of the digital servo circuit.

The memory 22 is also composed of a ROM, a RAM, a non-volatile memory, and the like. Like a normal robot controller, a control algorithm required to control the actual robot of the model to be simulated is: It is stored together with other programs and related data. When the actual robot is actually operated, an operation program is prepared in the memory 22 as in the case of the normal regeneration operation (workstation 1).
0 may be transferred). Also,
For temporary storage of data necessary for various processes performed by the CPU 21, a memory area constituted by a RAM is used, similarly to a normal robot controller.

The interface 23 with the workstation is connected to the interface 14 with the robot controller of the workstation (possibly another user interface device, such as a personal computer, CAD, etc.), from which the target position for each operation command is obtained. , Speed, interpolation type, etc. are received. The received data is passed to the “control algorithm (relevant part of the operation plan program)” in the robot controller 20.

The "control algorithm", particularly the relevant part of the operation planning program, calculates and calculates the interpolated data every moment and returns it to the interface 23 with the workstation. Then, the interface 23 with the workstation sends the interpolation data to the interface 13 with the robot controller of the workstation 10. Interface 2 with workstation
3 may occasionally buffer the interpolated data sent from the part related to the operation plan program once and send it internally as needed (using the RAM area in the memory 22). Also, the data may be sent after being decimated (data compression).

The communication line 30 is connected to the workstation 10
It provides a physical connection means between the interface 13 with the robot control device on the side and the interface 23 with the workstation on the robot control device 20 side. For example, it may be a serial line such as RS232C or Ethernet. Etc. may be used.

Since a commercial telephone line (including a communication line using a communication satellite) can be used as each line, the work station 10 (generally a user interface) and the robot controller 20 which provides an algorithm are connected to each other. The distance may be physically remote.

Further, of the components of the workstation 10, the user interface section and the graphic section are separated from the interpreter section and the teaching data, and these are connected by a telephone line or the like, so that only the user interface section and the graphic section are provided. May be placed in a remote location.

Next, FIG. 2 shows the operation between the workstation 10 and the robot controller 20 (more specifically, between the two interfaces 13 and 14), which is operated when executing the operation simulation using the present system. The logical interface is shown by a flowchart. The simulation operation of the system of this embodiment is as follows.
The operation is started when the operator operates the keyboard 50 and inputs a simulation start command for the specified operation program.

First, it is checked on the workstation 10 whether or not reading of teaching data has been completed for an operation program to be subjected to an operation simulation (step S1). Except when the reading of all the teaching data is completed, the process proceeds to step S2, and the operation command for one block is read. Next, this is interpreted (decoded) (step S3), and the robot controller 2
It transmits to the 0 side (dashed arrow C1).

Here, the operation commands transmitted from the workstation 10 to the robot controller 2 include a target movement position (taught point position) of the robot, a command speed, an interpolation type (straight line / arc / each axis), Information specifying the positioning ratio and the like is included. In the subsequent step S5, it is confirmed that the request for the next operation command has not been received from the robot control device 20, and the process further proceeds to step S6 to receive the interpolation data from the robot control device 20 (broken arrow C
3).

As will be described later, the interpolation data is obtained on the robot controller 10 by processing according to an operation planning program included in the control algorithm. In step S5, the request for the next operation command is transmitted from the robot control device 20 immediately after the completion of the route calculation process (see steps T2 to T4 described later) for the taught section.

The interpolation data received in step S6 is passed to the interpreter and temporarily stored in a relevant portion of the memory 12 (step S7). When this process is completed, the process returns to step S5, and it is confirmed again whether or not an operation command request has been received. Hereinafter, steps S5 to S5 are performed until an output of yes (the operation command request is received) is obtained in step S5.
The processing cycle of No. 7 is repeated.

Eventually, the robot controller 20 calculates the route of the teaching section (steps T2 to T
4) is completed, and immediately after that, an output of YES (the operation command request has been received) is obtained in step S5. After that, the process returns from step S5 to step S1 to check again whether reading of the teaching data has been completed. Hereinafter, until the output of yes is obtained in step S1,
The processing from step S2 onward is repeated.

On the other hand, in step T1 of the robot controller 20, the data of the operation command transmitted from the workstation 10 in step S4 (broken arrow C1) is received. As described above, the data of this operation command includes:
The information includes the target position of the robot (taught point position), the command speed, the interpolation type (straight line / arc / each axis), the positioning ratio, and the like.

In step T2, it is checked whether or not the operation command for the section targeted by the operation command has been completed. If not completed, the process proceeds to step T3. If completed, the process proceeds to step T5. Proceed to. Step T
In step 3, the CPU 21 activates a control algorithm (particularly, an operation planning program) in the same manner as in the normal regeneration operation of the actual machine, and sets the acceleration / deceleration time constant and the like of the acceleration / deceleration control in accordance with the data received in step T1. Then, an interpolation process for one ITP (one calculation cycle) is performed.

In the following step T4, the interpolation data obtained in the step T3 is transmitted to the workstation 10 (see the broken arrow C3), and the process returns to the step T2, where the next 1ITP is performed.
Interpolation processing (for one calculation cycle). Hereinafter, similarly, the processing cycle of step T2 to step T4 and the transmission of the interpolation data are repeated, and when the operation command for the section targeted by the operation command is completed, the judgment output of step T2 becomes YES and the process proceeds to step T5. Then, a request for the next operation command is transmitted to the workstation 10 (see the broken line arrow C2), and the process returns to step T1 to wait for reception of the next operation command.

Although not shown in the flowchart, if the determination is YES in step S1 on the workstation 10 side and the processing ends, a processing end command is transmitted to the robot controller 20. Then, the processing on the robot control device 20 side is also terminated.

When the processing based on the above logical interface is completed for one operation program, data representing the result of the operation simulation is stored in the memory 12 of the workstation 10. Therefore, if this is displayed on the display 40 using the 3D graphic function, the user can check and evaluate the result of the operation simulation for the operation program.

Note that, instead of displaying the result of the simulation in accordance with the once accumulated data, a route is drawn each time the interpreter receives the interpolation data in step S7.
Alternatively, it is possible to draw while changing the posture of the robot.

FIG. 3 exemplifies the appearance of the display 40 together with a graphic image displaying the operation simulation result. The display 40 is the screen 4
1 and operation buttons 42 to 45. Screen 41
For example, it is preferable to be able to perform color display with a liquid crystal display panel.

On the screen 41, a work environment such as a robot, a work, and a layout in a work room is graphically displayed as a background for displaying a motion path of the robot. Here, a robot image R and a work image W are displayed as a background image by a wire frame drawing method. The robot image R includes graphic images R1 and R2 of the base and the robot arm, and a graphic image P0 of the tool tip point representing the reference position of the robot. As the reference position, an initial position, an origin position of the base coordinate system, and the like are appropriately set. Further, the work image W of the present example includes a graphic image W ′ representing the presence of the protrusion of the work.

Hereinafter, a method of displaying the operation path of the tool tip point (reference position P0) using the interpolation point data obtained by the above-described operation simulation will be briefly described. It should be noted that various techniques are known for the technique itself used for graphic display of such a route.

The tip of the tool is preferably displayed in an easily identifiable manner, such as a red point image, a blinking point image, or a point image with a small arrow indicating the traveling direction. Here, the position of the tool tip point is displayed in chronological order in a point sequence (P1, P2, P3...) So that the observer of the display can perceive the movement path, moving speed, acceleration / deceleration, etc. of the tool tip point. I do. These point images P1, P2,... Are sequentially displayed for each data of a predetermined number of interpolation points (see display processing described later). The time series display of the point sequence can be repeated. The position of the teaching point is displayed so as to be distinguishable from other points. In the example shown,
It is indicated by a cross. P0 is displayed as indicating the initial position of the robot (standby position of the actual machine). As a result, as shown in FIG. 3, P0 is displayed as the starting point of the motion path.

The operation buttons 42 to 44 are buttons for adjusting the line-of-sight direction, scale, and viewpoint position of the graphic display. The line-of-sight direction and the position of the viewpoint can be adjusted in the up, down, left, and right directions according to the pressed parts (four places) of the buttons 42, 44. In addition, the scale is the pressed portion of the button 43 (2
) Can be adjusted in a direction to increase or decrease the display magnification.

The operation button 45 is a button for sending a command for starting / ending the display of the operation route to the workstation 10. When the operator presses the operation button 45 when he wants to start displaying the operation route, the point sequence P0
, P1, P2... Are repeatedly displayed. When the operation button 45 is pressed again, the display is stopped.

FIG. 4 is a flowchart outlining a process for displaying the operation simulation result using the 3D graphic display function of the system according to the present embodiment. An operator operates the keyboard to put the workstation 10 into the operation path confirmation mode. Then, CP
U11 starts a program for 3D graphic display, and a background image is graphically displayed on the screen 41. The robot position displayed at this stage is the reference position (point image P0
) Only.

Next, following the background display processing, the operation path display processing as shown in the flowchart of FIG. 4 is started. In the flowchart, the symbol F is a flag corresponding to the display of the motion path of the robot (F = 1) / non-display (F = 0), and the operation button 45 of the display 40 is set to 1 as described in the flowchart. It is inverted each time it is pressed.

When the background image is graphically displayed, C
The PU 11 enters a state of waiting for a command input from the display 40 (step D1). If any of the operation buttons 42 to 44 has been pressed, the process proceeds from step D2 to step D3, in which the display condition adjustment processing (adjustment of the visual line direction, scale, and viewpoint position of the graphic display) according to the pressed operation button is performed. Etc.).

When the operator desires to start the operation route display, the operator presses the operation button 45. Then, the process proceeds from step D2 to step D4, and after confirming that F = 0 (during operation path non-display), the flag is inverted to F = 1 (step D5).

Then, one block of the operation program to be simulated is read from the interpolation data transferred and accumulated from the robot controller 10 (step D6).

The read interpolation point data is sampled at a preset sampling interval for display (designated by the number of interpolation points) (step D7). It is preferable that the setting of the sampling interval is variable, and that all the interpolation points can be displayed (100% sampling).

Next, the display position on the screen 41 is calculated for the interpolation points sampled in step D7.
The display position is obtained from the spatial position indicated by the interpolation point and the display conditions (gaze direction, scale, viewpoint position, etc.).

In the following step D9, it is checked whether or not the operation path (interpolation point data) of the non-display processing remains. If it remains, the process returns to step D6. Then, step D6
Steps D9 to D9 are repeated until a determination result of Yes is obtained in Step 9.

If the answer is affirmative in step D9, the process proceeds to step D10, where the sampled interpolation point data is subjected to point sequences P1, P2.
Is displayed (P0 indicating the initial position is already displayed).
The display of the point sequences P1, P2,... Is preferably performed in a time-series manner. In this case, the display positions of P1, P2,... Are sequentially calculated, and a process of additionally displaying a point image at the corresponding position may be repeatedly executed at a predetermined cycle.

For the teaching points, it is preferable to perform a different display (for example, change the color, size and shape of the display) from the interpolation points. In the example shown in FIG. 4, it is indicated by a cross.

When the process of displaying the point sequence for one time is completed, the process proceeds to step D11, and it is checked whether a new command has been input. If none of the operation buttons 42 to 45 is pressed, it is determined that there is no command input, and step D1 is performed.
The process returns to 0 and the same point sequence display is performed again. That is, unless the operator newly presses the operation buttons 42 to 45, the same point sequence display is repeated in a short cycle. As a result, the operator can check the entire operation path with a margin.

When any of the operation buttons 42 to 45 is pressed, it is determined that a command has been input, and the process returns to step D2.
First, it is determined whether or not the display condition adjustment command (the operation buttons 42 to 44 are pressed). If so, step D
Then, the process proceeds to step S3 to adjust the line of sight, scale, and viewpoint of the graphic display, and then returns to step D1. If the operator repeatedly presses the operation buttons 42 to 44, the cycle of step D1, step D2, step D3, and step D1 is repeated. During this time, every time the display condition is changed, the display position of the point sequence P1, P2,... Is corrected and the display position is corrected.

When the operator presses the operation button 45 after confirming the operation route, "NO" is output in step D2, and the value of the flag F is checked. In this case, since F = 1, the process proceeds to step D12, where the process of ending the display (including the inversion of the flag F) is executed, and the process is ended.

Finally, with reference to FIG. 3, one case in which a teaching error is found on the screen 41 of the display will be described. In addition, an image displayed on the screen 41 after the teaching contents are corrected will be described. Keep it. The notation of Pi and Qi with respect to the displayed point sequence is only given for a part.
.., Q0, Q1,... Are not normally displayed on the screen.

In FIG. 4, P0, P1, P2,...
P6 ... P11, Q12 ... Q15 ... Q20 ... P23
... P30 represents a point sequence displayed on the screen 41 based on the result of performing a simulation for a certain operation program. From the display of such a point sequence, the operator can read the following.

1. P0 to P6: From the shape of the trajectory of the point sequence, it is understood that the axis moves from the initial position P0 to the approach point P6 in each axis operation. Also, from the distance between adjacent points, P
0 You can read acceleration after start and deceleration before arrival at P6. It is determined that there is no particular problem in this section.

2. P6 to P11: From the shape of the trajectory of the point sequence, it is understood that the robot moves linearly from the teaching point P6 corresponding to the approach point to the teaching point P11 corresponding to the work start point. Also, since the distance between adjacent points is very small,
It turns out that the command speed is low. Also in this section, it is determined that there is no particular problem.

3. P11 to Q20: From the shape of the trajectory of the point sequence, it is understood that the robot moves in a linear motion from the teaching point P11 corresponding to the work start point to the teaching point Q20 corresponding to the corner point. Further, the acceleration after the start of P11 and the deceleration before arrival at Q20 can be read from the interval between the adjacent points. There is clearly a problem with this section. That is, the teaching point Q20 is located at a position where the teaching point Q20 interferes with the image W 'indicating the presence of the projecting portion, and if this background image is correct, the teaching contents will be erroneous.

4. Q20 to P23; Similar to P11 to Q20, the teaching point Q20 is located at a position where the teaching point Q20 interferes with the image W 'indicating the presence of the projection of the work, and there is a clear problem. However, as for the position of the teaching point P23 corresponding to the work end point, it is determined that there is no particular problem as long as it is not at the position where interference occurs and does not violate the work content.

5. P23 to P30: From the shape of the trajectory of the point sequence, it is understood that each axis moves from the teaching point P23 corresponding to the work end point to the teaching point P30 corresponding to the escape point. Further, the acceleration after the start of P23 and the deceleration before the arrival at P30 can be read from the interval between the adjacent points. It is determined that there is no particular problem in this section.

From such observation results, the operator will reexamine the error of the position of the teaching point Q20 with emphasis. Then, the operator corrects the operation program on the workstation 10 based on the examination result. Here, it is assumed that there is an error in the position data of the teaching point Q20, and an operation program that has corrected the error has been re-registered.

The above-described operation simulation is executed again, and the processing described in the flowchart of FIG. 4 is executed again based on the interpolation point data obtained as a result. This allows
An operation route according to the corrected operation program is displayed on the display screen 41.

In FIG. 3, P0, P1, P2,...
P6 ... P11, P12 ... P15 ... P18 ... P23 ...
... P30 represents an example of a point sequence newly displayed in this manner.

From the display of the new point sequence, the operator can confirm that P18 is newly displayed as a teaching point corresponding to a corner point instead of the previously displayed point Q20. Also, instead of the point sequences P11 to Q20 and Q20 to P23 displayed before the correction, the point sequences P11 to P20 and P20 to P20 are displayed.
Since 23 is displayed, it can be understood that these operation paths are at positions where they do not interfere with the image W ′ indicating the presence of the projecting portion of the work. P0-P6, P6-P11 and P23-
It is also confirmed that P30 is the same as the point sequence displayed for the program before correction.

A display mode in which the robot image R is displayed in a moving image format in accordance with the movement of the latest display position of the tool tip point may be adopted. To this end, software for calculating each axis value from an interpolation point in a three-dimensional space by an inverse transformation in the 3D graphic function and using the calculated value to display the robot posture in a moving image may be prepared.

As described above, in the system according to the present embodiment, the part for providing the operation unit from the user of the offline system including the start of the simulation operation and the part for providing the display unit for the simulation result are provided. Since it is attached to a computer serving as a user interface, the user does not feel inconvenienced even if the other part in charge of the robot operation calculation (robot control device) is located in a remote place.

[0073]

According to the off-line simulation system of the present invention, a computer serving as a user interface is connected to the robot controller, and the control algorithm originally possessed by the robot controller is used to calculate the path and the like required for the operation simulation. Borrowed for processing, the computer for the user interface receives the calculation result and provides it to the user through route display etc. on the display, so unlike the conventional offline simulation system, control for operation simulation There is no need to prepare an algorithm on the user interface side.

Further, if a telephone line is used as a means for connecting the robot controller to a computer serving as a user interface, there is no need to prepare a robot controller for simulation. Furthermore, if the user interface unit and the graphic unit are separated from the offline system main body (interpreter unit and teaching data) and connected by a public line, the terminal can use the offline system. Therefore, it is not necessary to purchase an expensive offline system, and it is possible to provide an inexpensive system with only a usage fee.

[Brief description of the drawings]

FIG. 1 shows an overall configuration of an off-line simulation system according to the present invention in a main block.

FIG. 2 is a flow chart illustrating a logical interface between a workstation and a robot controller that operates when performing an operation simulation using the present system.

FIG. 3 illustrates an example of an appearance of a display used in the system of the embodiment, together with a graphic image displaying a result of an operation simulation.

FIG. 4 is a flowchart illustrating an outline of a process for displaying an operation simulation result using a 3D graphic display function of the system of the embodiment.

[Explanation of symbols]

 Reference Signs List 10 workstation 11 CPU 12 memory 13 interface with robot controller 14 interface with display 15 keyboard input / output device 16 bus 20 robot controller 21 CPU 22 memory 23 interface with workstation 24 bus 30 communication line 40 display 41 display Screen 42-45 Display operation buttons 50 Keyboard

Claims (3)

[Claims] 1. A computer constituting a user interface, connection means for connecting the computer to a robot control device equipped with a robot control algorithm, and a simulation execution command for an operation program to be simulated. Means for causing the robot control device to calculate the operation of the robot based on the operation program; means for sending the calculation result to the computer via the connection means; and calculation results sent from the robot control device to the computer An offline simulation system for a robot, comprising simulation result display means for displaying a result of an operation simulation based on a robot. 2. The robot offline simulation system according to claim 1, wherein said connection means between said robot control device and said computer includes a telephone line. 3. The simulation device according to claim 1, wherein at least the operation unit capable of inputting the simulation execution command and the simulation result display unit are attached to a computer constituting the user interface. Off-line robot simulation system.