TWI828369B - Method of automatically establishing a robot model - Google Patents

Abstract

A method of automatically establishing a robot model is disclosed and includes following steps: obtaining a plurality of robot parameters; obtaining a rotation direction of each joint of the robot in accordance with the robot parameters; computing the position of each joint within a space; using basic geometry graphics to automatically establish the robot model in accordance with an original point, the rotation direction of each joint, and the position of each joint within the space; and, receiving an external operation to control the robot model to execute a simulate operating procedure.

Description

Automatic creation method of robot model

The present invention relates to robots, and in particular to a method for establishing a model of a robot.

Because robots (such as robot arms) are bulky, complex to operate, and expensive, users often perform 3D simulations before actually producing or purchasing the robot to ensure that the robot meets their needs and is suitable for the working environment.

Generally speaking, users must first obtain all the detailed parameters of the robot and use special software to draw a complete 3D drawing of the robot. Only then can they see the complete appearance, size, movement method and range of movement of the robot on the special software. and simulate it. However, not all users have the ability to draw 3D graphics. In this case, the user will not be able to simulate the required robot in advance, which is quite inconvenient.

The main purpose of the present invention is to provide a method for automatically building a robot model, which allows the user to automatically create a controllable robot model with a simple robot appearance through basic geometric figures by inputting only part of the robot parameters.

In order to achieve the above purpose, the automatic establishment method of the robot model of the present invention mainly includes the following steps:

a) Obtain complex robot parameters of a robot;

b) Execute a table lookup program based on the complex robot parameters to obtain the rotation directions of multiple joints on the robot;

c) Calculate the position of each joint in space;

d) Automatically build a robot model using one or more basic geometric figures based on an origin, the rotation direction of each joint, and the position of each joint in space; and

e) Accept an external operation to control the robot model to execute a simulated operation program.

The present invention uses basic geometric figures, combined with a small number of robot parameters input by the user, to replace the actual hardware components of the robot to construct a simple robot model, and uses the robot model to allow the user to perform simulation operations. Compared with related technologies, the present invention effectively reduces the technical threshold for users to perform 3D simulation operations on robots.

A preferred embodiment of the present invention is described in detail below with reference to the drawings.

The present invention discloses a method for automatically building a robot model, which allows the user to only input some parameters of the robot (such as a robotic arm) to automatically create a robot model that has a simple robot appearance and can be simulated and controlled in a 3D environment. .

First, please refer to FIG. 1 , which is a block diagram of an embodiment of a robot model building device of the present invention. Figure 1 discloses a building device 1 that can be operated by a user to automatically build a corresponding robot model for the robot required by the user.

In one embodiment, the creation device 1 can be any electronic device with computing capabilities, such as a smart mobile device, a tablet computer, a personal computer, an industrial computer, a cloud server, etc., without limitation.

As shown in FIG. 1 , the creation device 1 has a processing unit 11 , a user interface (UI) 12 , a display interface 13 , and a storage unit 14 that are electrically connected to the processing unit 11 .

The processing unit 11 may be, for example, a Micro Processing Unit (MCU), a Central Processing Unit (CPU), a System on Chip (SoC), or a Programmable Logic Controller (Programmable Logic Controller). PLC). The user interface 12 may be, for example, a keyboard, a mouse or a touch button, or a wired/wireless transmission module for receiving input of data and instructions from the outside. The display interface 13 may be, for example, a display screen or a touch screen. The storage unit 14 may be, for example, a Hard Disk Drive (HDD), a Solid-State Disk (SSD), a Flash Memory or a cloud database. However, the above are only some specific implementation examples of the present invention, but are not limited to the above.

Generally speaking, robots (taking robotic arms as an example) have several specific configurations, such as vertical joint six-axis type, vertical joint four-axis type, parallel joint four-axis type, etc., and different robots of the same configuration (such as Different brands or models) will still have common basic information (such as the number of connecting rods, the number of joints, and the direction of rotation of the joints, etc.). The technical feature of the present invention is that the relevant personnel of the creation device 1 can pre-create the configuration lookup table 141 based on the basic data of various configurations of robots, and store the configuration lookup table 141 in the storage unit 14 of the creation device 1 .

In one embodiment, the basic information of robots of various configurations is recorded in the configuration lookup table 141 . In another embodiment, the configuration lookup table 141 records basic information of robots of different brands or models in each configuration. As long as the user inputs some variable parameters of a specific robot into the creation device 1 through the user interface 12, the processing unit 11 can automatically create a simple robot with this specific robot based on the variable parameters combined with the data in the configuration lookup table 141. The appearance of the robot model (such as the robot model 3 shown in FIG. 3 ) is displayed on the display interface 13 . Thereby, the user can control the robot model displayed on the display interface 13 through the user interface 12 and use the robot model to perform simulated operation procedures.

Please refer to FIG. 2 , which is a flow chart of the method for establishing a robot model according to the first embodiment of the present invention. Figure 2 discloses the specific implementation steps of the automatic creation method of the robot model of the present invention (hereinafter referred to as the establishment method), and this establishment method can mainly be realized through the establishment device 1 shown in Figure 1, but is not limited thereto.

As shown in FIG. 2 , to establish a robot model capable of simulating operations in a 3D space, the creation device 1 first needs to obtain multiple robot parameters of the robot required by the user through the user interface 12 (step S20 ). Next, the creation device 1 uses the processing unit 11 to execute a table lookup program based on the plurality of robot parameters, so as to obtain the rotation directions of multiple joints on the robot from the execution results of the table lookup program (step S21).

As mentioned above, robots with the same configuration will have common basic data. Therefore, after receiving a plurality of robot parameters, the processing unit 11 can obtain multiple joints (ie, rotation axes) corresponding to the plurality of robot parameters through a table lookup program. ) direction of rotation. This eliminates the need for users to input the required joint data of the robot themselves.

After step S21, the processing unit 11 then calculates the position of each joint of the robot in space (step S22).

After step S22, the processing unit 11 can automatically create a robot using one or more basic geometric figures based on the origin (such as the location of the robot's base in space), the rotation direction of each joint, and the position of each joint in space. Robot model (step S23).

Generally speaking, a robot will have a base, multiple joints (including an active motion axis that can actively rotate and a passive motion axis that cannot actively rotate), and multiple connecting rods connected between the two joints. In one embodiment, when establishing the robot model, the processing unit 11 mainly uses a hexahedron or a triangular prism to represent the base, a cylinder with an appropriate length and a larger size to represent the active motion axis, and a sphere to represent the passive motion axis. The processing unit 11 uses the axis direction of the cylinder to represent the rotation direction of the active motion axis.

In the present invention, the active motion axis refers to the axis that can rotate by itself under the control of the motor, and the passive motion axis refers to the axis that can only be driven by the connected connecting rod and passively rotate. In addition, the processing unit 11 mainly represents the connecting rod as a cylinder or cone with a longer length and smaller size, and the connecting rod is connected between two joints, but this is not limited. For example, some robots have two links that are directly connected, whereby a curved arm cannot rotate (for example, the first link 331 and the second link 332 shown in FIG. 3 ).

Finally, the creation device 1 can accept the user's external operation through the user interface 12, so that the user controls the created robot model to execute the simulation operation program (step S24).

The technical solution of the present invention is to use basic geometric figures (such as hexahedron, cylinder, sphere, triangular prism and cone, etc.) to replace the actual appearance hardware components of the robot, and is based on user input and obtained through a table lookup program. Multiple robot parameters are used to select the basic geometric figures to be used, and finally the selected basic geometric figures are combined into a robot model with a simple robot appearance based on the robot parameters.

Although the robot model established through the establishment method of the present invention does not have the actual appearance of the robot, it does have components such as a base, connecting rods, and joints that can correspond to the robot. Therefore, users can control the robot model to perform simulated operating procedures in 3D space to test the robot's action range, action distance, and posture when performing various actions.

Please refer to FIG. 3 , which is a schematic diagram of the robot model according to the first embodiment of the present invention. Figure 3 discloses the robot model 3 automatically established by the establishment method of the present invention, and the robot model 3 in Figure 3 takes a vertical joint six-axis robot arm as an example.

As shown in Figure 3, the establishment device 1 automatically establishes a robot model 3 based on the obtained complex robot parameters, in which the base 31 of the robot is represented by a hexahedron, and a cylinder with a shorter length and a larger size (radius or diameter) is used. The body represents the joint 32 of the robot, and the cylinder with a longer length and smaller size represents the link 33 of the robot.

In the embodiment of FIG. 3 , the base 31 is fixedly disposed at the origin (0,0,0). The base 31 is connected in sequence with the first joint 321 , the first connecting rod 331 with the first rod length L1 , and the first connecting rod 331 with the first rod length L1 . The second connecting rod 332 with the second rod length L2, the second joint 322, the third connecting rod 333 with the third rod length L3, the third joint 323, the fourth connecting rod 334 with the fourth rod length L4, and the fifth connecting rod 334 with the fourth rod length L4. The fifth connecting rod 335 with rod length L5, the fourth joint 324, the sixth connecting rod 336 with the sixth rod length L6, the fifth joint 325, the seventh connecting rod 337 with the seventh rod length L7, and the sixth joint 326 . Moreover, according to the simulation operation needs, the user can use other basic geometric shapes (such as cones) to add robot tools (such as cutters or fixtures, not shown in Figure 3 ) to the sixth joint 326.

As mentioned above, when establishing the robot model 3 , the processing unit 11 refers to the user input and the plurality of robot parameters obtained through the table lookup program, so it can know the rotation direction of each joint on the robot model 3 . In one embodiment, the processing unit 11 may use the axis direction of each cylinder to represent the rotation direction of each joint. Thereby, the user can more easily understand how to perform simulation operations on the robot model 3 . Through the simulation operation program, users can understand the robot's attitude, range of motion, and tool center point (TCP) information in advance without having to completely create the actual 3D drawing of the robot.

Please refer to FIG. 4 , which is a flow chart of the robot model establishing method according to the second embodiment of the present invention. The creation method disclosed in Figure 4 can mainly be implemented through the creation device 1 shown in Figure 1, but is not limited thereto.

When the user needs to perform simulated operation of the robot, he first selects the configuration of the robot (such as three-axis, four-axis, six-axis, etc.), and inputs the robot configuration into the creation device 1 through the user interface 12 . The creation device 1 obtains the configuration of the robot (step S40), and queries the pre-stored configuration lookup table 141 according to the configuration of the robot to directly obtain the number of links, the number of joints, and the rotation direction of each joint of the robot of this configuration. Wait for the basic information of the robot (step S41).

Compared with the embodiment of FIG. 2 , the plural robot parameters in the embodiment of FIG. 4 at least include the configuration of the robot, and the creation device 1 queries the configuration lookup table 141 according to the configuration of the robot to execute the table lookup program.

As mentioned above, the configuration lookup table 141 records the basic information of robots of different brands or models in each configuration. After step S41, the creation device 1 can obtain the number of links and the number of joints of the robot of this configuration based on the query results of the configuration lookup table 141, where the relative positions of each link and each joint are fixed (for example, in Figure In the robot model 3 of 3, the third link 333 is provided between the second joint 322 and the third joint 323). Since each connecting rod connects each joint respectively, the position of each joint in space is related to the length of each connecting rod.

Therefore, after step S41, the user inputs link information of multiple links of the robot to the creation device 1 through the user interface 12, so that the creation device 1 obtains the link information input by the user (step S42). After obtaining the number of connecting rods, the connecting rod information of each connecting rod, the number of joints, and the rotation direction of each joint, the processing unit 11 of the establishment device 1 can execute the forward direction based on the connecting rod information of the multiple connecting rods and the multiple joints. Kinematics calculation is performed to sequentially obtain the positions of each joint in space (step S43).

After obtaining the position of each joint in space, the processing unit 11 can further rely on the origin in space (for example, the origin (0,0,0) shown in Figure 3), the link information of each link, and each The rotation direction of the joints and the position of each joint in space are used to automatically build a robot model with a simple robot appearance using multiple basic geometric figures (step S45).

Specifically, each motion axis (ie, joint) on the robot has an independent coordinate system. The coordinate system at one position can be moved to the coordinate system at the next position through the translation transformation matrix, and the rotation transformation matrix can be used to move the coordinate system at one position to the coordinate system at the next position. Can take on different postures. The forward kinematics is a mathematical model used to describe the connection of the origin coordinate system of the robot to the end coordinate system (such as the coordinate system used by the flange surface) through a transformation matrix. This mathematical model is usually expressed in the form of a DH table. Present. That is to say, the DH table records all conversion parameters from the robot's origin coordinate system to the end coordinate system.

Generally speaking, the DH table of a six-axis robotic arm can be shown in the following table: i αi _{-1 ai-1 di θi} 1 0 ^. 0 0 θ ₁ 2 -90 ^. 0 0 θ ₂ 3 0 ^. a ₂ d ₃ θ ₃ 4 -90 ^. a ₃ d ₄ θ ₄ 5 90 ^. 0 0 θ ₅ 6 -90 ^. 0 0 θ ₆

In the above DH table, i represents the joint on the robot, a represents the connecting rod length, d represents the link deviation, α represents the connecting rod torsion angle, and θ represents the joint angle. Based on different coordinate conversion methods, the same robot may derive different DH tables.

The above-mentioned DH table is a commonly used technical means in the field of robotics technology, and will not be described again here.

The rotation directions of joints with the same number on robots with the same configuration are the same, while the difference between robots of different models with the same configuration is only in the length of the connecting rods. Based on this characteristic, the present invention predetermines the robot link torsion angle α and joint angle θ of various configurations through the configuration lookup table 141, that is, the rotation direction of each joint is predefined. In this way, the user only needs to physically measure the robot's link information (including the link length a and the link deviation d) after determining the configuration of the robot to be simulated, so that the creation device 1 can The establishment method of the present invention uses basic geometric figures to automatically establish a robot model of this configuration.

In step S41, the rotation direction of each joint obtained by the establishment device 1 through the table lookup program mainly includes the joint angle and the connecting rod torsion angle. In step S42, the connecting rod information obtained by the creation device 1 mainly includes the connecting rod length and connecting rod deviation of each connecting rod. In step S43, the creation device 1 can mainly perform forward kinematics calculations based on the link information and the rotation direction to create a DH table of the robot of this configuration. In step S45, the creation device 1 mainly selects one or more suitable basic geometric figures based on the created DH table to create the robot model.

As mentioned above, the establishment method of the present invention is to use one or more basic geometric figures to establish a robot model. For example, in the implementation of Figure 3, a cylinder with an appropriate length and a larger size is used to represent the joint, and a cylinder with a larger length is used to represent the joint The long, smaller cylinder represents the connecting rod. The link information input by the above user can only be used to determine the length of the link and the position of the joint, but cannot be used to determine the size of the link and joints.

In one embodiment, before actually establishing the robot model, the creation device 1 also determines the maximum size of one or more basic geometric figures used (step S44). In step S45, the building device 1 builds the robot model using the basic geometry of the size determined in step S44.

The establishment method of the present invention uses cylinders to represent connecting rods, and when generating these cylinders, the minimum length of all connecting rods is first calculated based on the robot parameters input by the user, and based on this minimum length, the most suitable calculation for these connecting rods is performed. The radius or diameter of the rod.

Specifically, the establishment method of the present invention is to calculate the most suitable size of each arm on the robot based on the smallest of all links, avoiding the use of larger-sized (longer diameter) cylinders to represent short-length links, so that all The deformation of the established robot model. When the present invention automatically generates a robot model, it will first optimize the size of the geometric figure used according to the length of the connecting rod to avoid generating a strangely shaped robot model. In this way, the user can avoid not being able to see the actual posture of the robot when controlling the robot model to perform simulated operation procedures.

It is worth mentioning that when the robot model is built by the building device 1 and displayed on the display interface 13 , different colors can be used to display the connecting rods and joints respectively. This makes it easier for users to distinguish connecting rods and joints, making it easier to observe the posture of the robot.

Back to Figure 4. In the present invention, after determining the configuration of the robot, the creation device 1 can further obtain the upper limit and lower limit of each joint input by the user through the user interface 12 (step S46). When the user wants to perform a simulation operation, the user interface 12 can be used to control each joint of the robot model to operate within their respective upper limit and lower limit ranges to implement the simulation operation program (step S47).

In one embodiment, the joint on the robot is a rotation axis, and the upper limit and the lower limit are the upper limit and the lower limit of the rotation angle of the rotation axis, and the unit is an angle (degree). In another embodiment, the joint on the robot is a translational motion axis, and the upper limit and the lower pole are the upper limit of movement distance and the lower limit of movement distance of the translational motion axis, and the unit is millimeters (mm).

Please refer to FIG. 5 , which is a schematic diagram of robot parameters according to an embodiment of the present invention. Figure 5 discloses a plurality of robot parameters that the user needs to actively provide when using the establishment method of the present invention. In the embodiment of FIG. 5 , the plural robot parameters mainly include the configuration 51 of the robot, the link information 52 of each link of the robot, and the upper limit 53 and lower limit 54 of each joint of the robot. It should be noted that each numerical value shown in Figure 5 is only an example, and is not intended to limit the present invention.

In one embodiment, the user can directly input the name of the robot's configuration 51 (for example, input the vertical joint six-axis type or the parallel joint four-axis type, etc.), or input the code of the robot's configuration 51 (for example, 0 Indicates the vertical joint six-axis type, and 1 indicates the parallel joint four-axis type).

After the user inputs the configuration 51 of the robot, the creation device 1 will lock the number of links, the number of joints, and the rotation information of the joints based on the contents of the configuration lookup table 141 . At this time, the number of link information 52 and the number of upper limits 53 and lower limits 54 that the user can input are limited. In other words, the number of link information 52 and the number of upper limits 53 and lower limits 54 that the user can input are directly related to the input configuration 51 . In the embodiment of FIG. 5 , the connecting rod information 52 includes eleven pieces of information including connecting rod lengths and connecting rod deviations of multiple connecting rods. Among them, the unit of connecting rod length and connecting rod deviation is millimeter (mm), but it is not limited to this.

It is worth mentioning that if the user inputs different configurations 51, the number of link information 52 that the user can input may be different, and is not limited to the eleven pieces of information shown in Figure 5.

In one embodiment, the length of the connecting rod refers to the distance from the previous axis coordinate system of the robot to the next axis coordinate system along the x-axis direction, and the link deviation refers to the distance from the previous axis coordinate system of the robot to the next axis coordinate system. The distance along the z-axis of the next axis coordinate system. The connecting rod length input by the user can be 0. If the connecting rod length input by the user is 0, it means that this connecting rod does not exist for this model of robot. It should be noted that the connecting rods of the robot can only be straight connecting rods.

As mentioned above, after the user inputs the configuration 51 of the robot, the creation device 1 will query the configuration lookup table 141 according to the configuration 51 . Based on the query results of the configuration lookup table 141, information such as how many joints the robot has, whether these joints are rotational motion axes or translational motion axes, and whether these joints are active motion axes or passive motion axes, etc., will become the information used to create the device 1 Know the information. Based on the determined configuration 51 , information such as the translational relationship and the rotational relationship between each joint will also become known information for building the device 1 . At this time, adding the link information input by the user, the creation device 1 can create the DH table. In other words, through the creation method of the present invention, the user does not need to know the joint angle θ and the link torsion angle α of each joint on the robot. The user can also have the creation device 1 automatically perform the calculation through the table lookup program and forward kinematics calculation. Create a DH table.

It is worth mentioning that robots of different configurations may use different joints, and robots of different configurations or models may also use different joints in the same configuration. Therefore, although the building device 1 can obtain the joint angle θ and the link torsion angle α by performing a table lookup procedure through the configuration 51 , the user still needs to provide the upper limit 53 and the lower limit 54 of each joint to the building device 1 . As mentioned above, after querying the configuration lookup table 141 based on the configuration 51, the creation device 1 will lock the number of links, the number of joints, and the rotation information of the joints. Therefore, the number of upper limits 53 and lower limits 54 that the user can input is also limited.

In the present invention, the user inputs the robot's configuration 51, link information 52, upper limit 53, and lower limit 54, and the creation device 1 obtains the joint rotation information through a table lookup program. In this way, the building device 1 can calculate the spatial position of each joint coordinate system on the robot through forward kinematics, combine the connecting rods and joints, and then use basic geometric figures to automatically generate a robot model with a simple robot appearance.

Please refer to FIG. 6 , which is a schematic diagram of the robot model according to the second embodiment of the present invention. The robot model revealed in Figure 6 is a parallel joint four-axis robot.

When the user inputs the configuration of the robot to the building device 1 as a parallel joint four-axis type, the building device 1 can learn through the table lookup program that the robot has a base 31 and four joints 32 (active motion axes in this embodiment). , six connecting rods 33 and six passive motion axes (such as ball and socket joints) 34. After receiving the link information input by the user and obtaining the number of joints and the rotation direction of each joint through table lookup, the establishment device 1 can obtain the base 31, each joint 32, each link 33 and each passive motion through forward kinematics calculation. The relationship between axis 34 is then automatically established as the robot model shown in Figure 6.

In the embodiment of FIG. 6 , the base 31 of the building device 1 is represented by a triangular prism, the joint 32 is represented by a cylinder of appropriate length and larger size, the connecting rod 33 is represented by a cylinder with a longer length and smaller size, and the connecting rod 33 is represented by a circle. The sphere represents the passive motion axis 34 . However, the above is only one implementation example of the present invention, but is not limited to the above.

Please refer to FIG. 7 , which is a schematic diagram of the robot model according to the third embodiment of the present invention. The robot model revealed in Figure 7 is a vertical joint four-axis robot.

In the embodiment of FIG. 7 , when the user inputs the configuration of the robot into the building device 1 as a vertical joint four-axis type, the building device 1 can learn through the table lookup program that the robot has a base 31 and four joints 32 (hereinafter, In the embodiment, it is an active motion axis) and four connecting rods 33. After receiving the link information input by the user and obtaining the number of joints and the rotation direction of each joint through table lookup, the establishment device 1 can obtain the relationship between the base 31, each joint 32 and each link 33 through forward kinematics calculation, and then Automatically build the robot model as shown in Figure 7.

In the embodiment of FIG. 7 , the building device 1 uses a hexahedron to represent the base 31 , and a cylinder of appropriate length and larger size to represent the joint 32 (which also includes a translation joint that allows the end link 33 to move up and down). And the connecting rod 33 is represented by a cylinder with a longer length and a smaller size. However, the above is only one implementation example of the present invention, but is not limited to the above.

Through the creation method of the present invention, the user only needs to provide the robot's configuration and link information, and the creation device 1 can automatically create a robot model that has a simple robot appearance and can accept simulated operations. This can effectively reduce the user's inconvenience when performing 3D simulation operations on the robot.

The above descriptions are only preferred specific examples of the present invention, which do not limit the patent scope of the present invention. Therefore, all equivalent changes made by applying the content of the present invention are equally included in the scope of the present invention, and are hereby stated. bright.

1: Create device 11: Processing unit 12:User interface 13:Display interface 14:Storage unit 141: Configuration lookup table 3:Robot model 31: base 32:Joint 321:First joint 322:Second joint 323:Third joint 324:Fourth joint 325:Fifth joint 326:Sixth joint 33: Connecting rod 331:First connecting rod 332:Second connecting rod 333:Third connecting rod 334:Fourth connecting rod 335:Fifth connecting rod 336:Sixth connecting rod 337:Seventh connecting rod 34: Passive motion axis 51:Configuration 52: Connecting rod information 53: Upper limit 54:Lower limit L1: length of first rod L2: The length of the second rod L3: The length of the third rod L4: The length of the fourth rod L5: The length of the fifth rod L6: The length of the sixth rod L7: The length of the seventh pole S20~S24, S40~S47: Establishment steps

Figure 1 is a block diagram of an embodiment of a robot model building device of the present invention.

FIG. 2 is a flow chart of the robot model building method according to the first embodiment of the present invention.

Figure 3 is a schematic diagram of a robot model according to the first embodiment of the present invention.

Figure 4 is a second embodiment of the flow chart of the robot model building method of the present invention.

Figure 5 is an embodiment of a schematic diagram of robot parameters of the present invention.

Figure 6 is a schematic diagram of a robot model according to a second embodiment of the present invention.

Figure 7 is a schematic diagram of a robot model according to a third embodiment of the present invention.

S20~S24: Creation steps

Claims (8)

A method for automatically establishing a robot model, including: a) obtaining a plurality of robot parameters of a robot, wherein the plurality of robot parameters at least include a configuration of the robot; b) executing a table lookup program based on the plurality of robot parameters to obtain the The rotation directions of multiple joints on the robot, wherein the table lookup program includes querying a configuration lookup table according to the configuration to obtain the number of links, the number of joints, and the rotation direction of each joint of the configuration; c0) After step b), obtain a link information of multiple links of the robot; c) perform forward kinematics calculation based on the link information of the multiple links and the multiple joints to obtain each link in sequence. The position of the joint in space; d0) determines a maximum size of one or more basic geometric figures; d) based on an origin, the link information of each link, the rotation direction of each joint, and each joint to automatically build a robot model using the one or more basic geometric figures at a position in space; and e) accept an external operation to control the robot model to perform a simulation operation program. The automatic creation method of a robot model as described in claim 1, wherein the basic geometric figure is a hexahedron, a triangular prism, a cylinder, a cone or a sphere. The automatic creation method of a robot model as described in claim 1, wherein the link information includes a link length and a link deviation, the rotation direction includes a joint angle and a link torsion angle, and the step c) includes the basis The link information and the direction of rotation perform forward kinematics calculations to establish a DH table, and the step d) includes establishing the robot model using basic geometry based on the DH table, The DH table records a conversion parameter that connects an origin coordinate system of the robot to an end coordinate system. The method for automatically establishing a robot model as claimed in claim 1, wherein the joint includes an active motion axis and a passive motion axis, and step d) includes using a cylinder to represent the active motion axis and a sphere to represent the passive motion axis. The axis of motion, and the direction of an axis of the cylinder represents the rotation direction of the active axis of motion. The method for automatically establishing a robot model as claimed in claim 1, wherein the step d) includes representing each connecting rod as a cylinder, and the step d0) includes: d01) calculating a minimum length of all the connecting rods; and d02 ) calculates the best radius or diameter for those connecting rods based on the minimum length. The method for automatically establishing a robot model as claimed in claim 1, wherein step d) includes displaying the joints and the links in different colors. The method for automatically establishing a robot model as described in claim 1, wherein the step e) further includes a step e0): obtaining an upper limit and a lower limit of each joint; wherein the step e) includes controlling the robot model. Each joint executes the simulation operation program within the range of the upper limit and the lower limit. The automatic creation method of a robot model as described in claim 7, wherein each joint includes a rotation axis and a translation axis, the upper limit and the lower limit of the rotation axis are a rotation angle, and the translation axis The upper limit and the lower limit are a moving distance.

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