JP2019084648A - Robot teaching method, robot teaching device, robot system, program and recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten the time required for teaching a robot. When any of a plurality of partial movements of a robot 2001 is changed, a robot control device 300 is simulated to have a first region including a region through which a virtual robot passes due to the partial movement before the change. , The second area through which the virtual robot passes is obtained by the partial operation after the change, and the first area and the second area are compared. As a result of the comparison, when the first region does not include the second region, the robot control device 300 causes the robot 2001 to perform a partial operation after the change, so that the robot 2001 interferes with a surrounding object. Check if. [Selection diagram] Fig. 1

Description

  The present invention relates to processing associated with a change in motion of a robot.

  Automation, such as assembly, transport, and application, in a factory production line is performed using an industrial robot. In this type of robot, in order to improve production capacity and save space, a plurality of robots are often arranged close to each other, and work is often coordinated in a common work area. In such a case, the worker who teaches the robots teaches each robot with a simulator or the like so that the robots do not interfere in consideration of the motion (that is, trajectory) of each robot, the timing of operating each robot, etc. It is carried out. Also in the actual machine, the robot is actually operated to perform interference confirmation to confirm whether the robot interferes with another robot or an object such as a structure.

  Even after the teaching of the robot is finished, the operation of the robot is frequently changed for the purpose of shortening the operation time of the robot, for example. Therefore, conventionally, the interference confirmation is performed each time the movement (track) of the robot is changed. At the time of such interference confirmation, for example, in Patent Document 1, in the default state before the robot starts to operate, the evaluation of all the work areas is made the first evaluation, and the work area where the robot passed The evaluation of is changed from the first evaluation to the second evaluation. When the robot passes the first evaluation work area, the robot is operated at low speed, and when the robot passes the second evaluation work area, the robot is operated at high speed. There is.

Patent No. 5541020 gazette

  However, although the method of Patent Document 1 can shorten the time required for interference confirmation performed every time the robot's operation is changed, it still requires time to teach the robot, and further time reduction is required. It was

  Then, an object of the present invention is to shorten the time required for teaching a robot.

  The robot teaching method of the present invention can execute an actual operation that causes a robot to perform a series of operations including a plurality of partial operations, and a simulation that causes a virtual robot corresponding to the robot to perform the series of operations in a virtual space. A robot teaching method using a processing unit, wherein when any one of the plurality of partial operations is changed, the processing unit includes an area through which the virtual robot passes by the partial operation before the change. As a result of comparing the second region with the second region where the virtual robot passes by the partial operation after the change, if the first region does not include the second region, the partial operation after the change An interference confirmation step of causing the robot to perform.

  According to the present invention, the time required to teach a robot can be shortened.

It is an explanatory view showing a robot system concerning a 1st embodiment. It is a block diagram showing a control system of a robot system concerning a 1st embodiment. It is explanatory drawing of the simulation by the robot control apparatus in 1st Embodiment. It is a flowchart which shows each process of the robot teaching method which concerns on 1st Embodiment. (A) And (b) is a figure for demonstrating the trajectory generation of the robot in a 1st embodiment. (C) is an explanatory view of simulation by a robot control device in a 1st embodiment. (A) And (b) is a figure for demonstrating the trajectory generation of the robot in a 1st embodiment. (A) And (b) is explanatory drawing of the simulation by the robot control apparatus in 1st Embodiment. It is a flowchart which shows the process of the interference confirmation in the robot teaching method which concerns on 1st Embodiment. It is explanatory drawing of the simulation by the robot control apparatus in 2nd Embodiment. It is a flowchart which shows the process of the interference confirmation in the robot teaching method which concerns on 3rd Embodiment. It is explanatory drawing of the simulation by the robot control apparatus in 3rd Embodiment. It is a flowchart which shows the process of the interference confirmation in the robot teaching method which concerns on 4th Embodiment. It is explanatory drawing of simulation by the robot control apparatus in 4th Embodiment.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
First Embodiment
FIG. 1 is an explanatory view showing a robot system 100 according to the first embodiment. The robot system 100 includes a plurality of (two in the first embodiment) robots 200 ₁ and 200 _2, and a robot control system 350 which is an example of a robot teaching device that controls the robots 200 ₁ and 200 ₂ . An obstacle 700 such as a structure exists around the robots 200 ₁ and 200 ₂ .

The robot control system 350 includes a robot control device 300 which is an example of a processing unit, an input device 400 which is an example of an input unit, and a display device 500 which is an example of a display unit. The input device 400 includes, for example, a keyboard 401, a mouse 402, a teaching pendant 403, and the like, and a worker performs data input to the robot control apparatus 300 and the like. The teaching pendant 403 is operated by the operator and used to instruct the operation of the robots 200 ₁ and 200 ₂ and the robot control device 300. Further, the teaching pendant 403 has a button 410 for starting an operation for interference confirmation, which will be described later, and a button 411 for causing the robots 200 ₁ and 200 ₂ to start a production operation such as an assembly operation. The configuration of the input device 400 is not limited to this. For example, one of the keyboard 401, the mouse 402, and the teaching pendant 403 may be omitted as necessary, and another input may be used. An apparatus may be used. The display device 500 is a display that displays an image.

The robot 200 ₁ and the robot 200 ₂ may be configured differently, but is substantially the same configuration, the description below, the configuration of the robot 200 _1, it will not be described configuration of the robot 200 _2.

Robot 200 ₁ is a vertical articulated robot provided with a robot arm 251, the robot hand 252 is an example of the end effector attached to the end of the robot arm 251, a. The proximal end of the robot arm 251 is fixed to a pedestal. The robot hand 252 holds a workpiece such as a part or a tool.

The robot arm 251 has a plurality of joints, for example, a plurality of links 210 to 216 connected by six joints J1 to J6. The robot arm 251 has a plurality of servomotors (not shown) for rotationally driving the joints J1 to J6 about the joint axes. By rotationally driving the joints J1 to J6, the posture of the robot arm 251 can be changed. By changing the posture of the robot arm 251, the robot 200 _first hand, namely the end of the robot arm 251 can be changed to an arbitrary position and orientation.

The position and attitude of the end of the robot 200 _1, the base end of the robot arm 251, i.e., is represented by the base coordinate system relative to the pedestal. In the robot controller 300, the hand of the robot 200 ₁ is defined by TCP (tool center point). By instructing the position and orientation of the TCP in the base coordinate system in the input device 400, can determine the position and attitude of the end of the robot 200 _1.

Next, the robot control device 300 in the robot control system 350 will be described. FIG. 2 is a block diagram showing a control system of the robot system 100 according to the first embodiment. The robot control device 300 is configured by a computer. The robot control device 300 includes a CPU (Central Processing Unit) 301. The robot control apparatus 300 further includes a storage unit 302 configured of a read only memory (ROM), a random access memory (RAM), a hard disk drive (HDD), and the like. Further, the robot control device 300 includes a recording disk drive 303 and an input / output interface (not shown). The CPU 301, the storage unit 302, the recording disk drive 303, and the input / output interface are communicably connected to one another by a bus 310. The CPU 301 controls the storage unit 302 and the recording disk drive 303, and controls the robots 200 ₁ and 200 ₂ connected to the input / output interface, the input device 400 and the display device 500. The recording disk drive 303 can read out various data and programs recorded on the recording disk 304.

The storage unit 302 stores control programs 311, task programs 312, CAD data 313, and other data such as constraints when generating trajectory data. Control program 311, in CPU 301, the interpretation of the task program 312, the generation of trajectory data of the robot ₂₀₀ 1, 200 _2, simulation, the robot ₂₀₀ 1, 200 ₂ of the operation control and the like, to perform the steps of the robot teaching method described later It is a program. The control program 311 can not be easily changed by the user.

The task program 312 is, for example, a text file described in robot language, and can be changed by the user. The task program 312 includes a plurality of operation commands for instructing a series of operations to be performed by the robots 200 ₁ and 200 ₂ , section data indicating a location at which the plurality of operation commands are divided, and the like.

Each operation command is described in robot language such as "Mov P1 P2", for example. In the case of this example, it is an operation command to move the TCP linearly from the teaching point P1 to the teaching point P2. The CPU 301 generates trajectory data of TCP connecting teaching points designated as an operation command by the task program 312 by an interpolation method (for example, linear interpolation, arc interpolation, etc.) designated as the operation command by the task program 312. The trajectory data is, for example, a set of data on the position and orientation of the TCP (or data on the angle of each joint) instructed at predetermined time intervals such as 1 [ms], and includes velocity information. The CAD data 313 is shape data of the robots 200 ₁ and 200 ₂ , shape data of the obstacle 700, and the like.

  In the first embodiment, the case where the computer readable recording medium is the storage unit 302 and the control program 311 is stored in the storage unit 302 will be described, but the present invention is not limited to this. The control program 311 may be recorded on any recording medium as long as it is a computer readable recording medium. For example, the recording disk 304 shown in FIG. 2 may be used as a recording medium for supplying the control program 311 to the computer.

Before manufacturing an article by the robots 200 ₁ and 200 ₂ placed in the production line, it is necessary to teach the robots 200 ₁ and 200 ₂ , that is, to create a task program 312. There are various teaching methods. For example, a task program 312 is temporarily created by off-line teaching, each robot 200 ₁ and 200 ₂ is operated in a real machine, and interference confirmation of whether each robot 200 ₁ and 200 ₂ does not interfere with surrounding objects is performed. There is a way to fix the

Incidentally, when the off-line teaching, preferably the display device 500 to the 3D graphics display each robot ₂₀₀ 1, 200 virtual obstacle corresponding to the virtual robot and obstacles 700 that corresponds to _2. Then, it is preferable to support the teaching by causing the operator to input an instruction to the CPU 301 using the input device 400 while looking at the display device 500.

Check interference, in the example of FIG. 1, between the robot 200 ₁ and the robot 200 _2, between the robot 200 ₁ and the obstacle 700, it is necessary to perform with the robot 200 ₂ and the obstacle 700. That is, in each robot, it is necessary to confirm interference with an object arranged in the periphery. For the robot 200 _1, a body of the robot 200 ₂ and the obstacle 700 is disposed around, for the robot 200 _2, is an object that the robot 200 ₁ and the obstacle 700 is arranged around. When the robots 200 ₁ and 200 ₂ grip a workpiece such as a part, it is necessary to perform interference confirmation including the workpiece being gripped.

The task program 312 stored in advance in the storage unit 302 is assumed to have been created after the teaching is completed. Therefore, when the robots 200 ₁ and 200 ₂ are operated according to the task program 312 before the change, the robots 200 ₁ and 200 ₂ do not interfere with any objects in the periphery. When the operator operates the button 411 of the teaching pendant 403, the CPU 301 generates trajectory data based on the task program 312, and operates the robots 200 ₁ and 200 ₂ according to the trajectory data to perform production work. Manufacture an article.

By the way, even after the teaching is completed, a part of the motion of the robot, that is, a part of the plurality of motion commands included in the created task program 312 may be changed. When the movement command is changed, the movement of the robot is changed, so that the robots 200 ₁ and 200 ₂ must not interfere with surrounding objects.

In the first embodiment, the CPU 301 is configured to be able to control the robots 200 ₁ and 200 ₂ , and configured to be able to perform off-line teaching by simulation. That is, the CPU 301 can execute an actual operation that causes the robots 200 ₁ and 200 ₂ to perform a series of operations, and can also execute a simulation that causes a virtual robot to perform a series of operations.

FIG. 3 is an explanatory view of a simulation by the robot control device 300 in the first embodiment. In FIG. 3, virtual robots 200I ₁ and 200I ₂ and virtual obstacles 700I arranged in the virtual space RI are schematically illustrated. Virtual robot 200I ₁ corresponds with the robot 200 _1, virtual robot 200I ₂ corresponds with the robot 200 _2, virtual obstacle 700I corresponds to the obstacle 700. The CPU 301 arranges the virtual robots 200I ₁ and 200I ₂ and the virtual obstacle 700I in the virtual space RI as shown in FIG. 3 based on the CAD data 313. In the first embodiment, the CPU 301 causes the display device 500 to display 3D graphics so that the virtual robots 200I ₁ and 200I ₂ and the virtual obstacle 700I can be recognized by the operator. In FIG. 3, the virtual robots 200I ₁ and 200I ₂ are illustrated in a simplified manner by three-axis robots.

As if to change the behavior of the robot, a case of changing the operation of the robot 200 ₁ as an example. FIG. 4 is a flowchart showing each step of the robot teaching method according to the first embodiment. The CPU 301 reads a plurality of motion commands corresponding to a series of motions of the robots 200 ₁ and 200 ₂ from the storage unit 302 (S 101), and stores sections dividing the plurality of motion commands of each robot 200 ₁ and 200 ₂ It reads from 302 (S102). Note that, since the operation command and the data of the section are described in the task program 312, the task program 312 is read in steps S101 and S102.

Hereinafter, the processes of step S101 and step S102 will be specifically described. FIG. 5A is a view for explaining trajectory generation of the robot in the first embodiment. CPU301 in step S101, a plurality of operation command to be performed by the robot 200 ₁ CMA 1, CMA2, CMA3, ..., and a plurality of operation command CMB1 causes the robot 200 _2, CMB2, CMB3, acquires ... from the storage unit 302 . In step S102, the CPU 301 divides the plurality of operation instructions CMA1, CMA2, CMA3,... Into a plurality of instruction sets CSA1 and CSA2 including one or more operation instructions for each of the predetermined sections S1 and S2. Similarly, in step S102, CPU 301 sets a plurality of operation instructions CMB1, CMB2, CMB3,... Into a plurality of instruction sets CSB1 and CSB2 including one or more operation instructions for each of predetermined sections S1 and S2. Divided into That, CPU 301, as shown in FIG. 5 (a), for each section S1, S2 for operating the robot ₂₀₀ 1, 200 ₂ at the same time zone, a plurality of operation instruction multiple command sets CSA1, CSA 2 and a plurality of Divide into command sets CSB1 and CSB2. In the task program 312, these operation commands may be recorded in a state of being divided into a plurality of command sets. In this case, the CPU 301 reads a plurality of command sets from the storage unit 302.

Next, the CPU 301 generates trajectory data of each of the robots 200 ₁ and 200 ₂ for each section (S103). FIG. 5B is a view for explaining trajectory generation of the robot in the first embodiment. Here, as shown in FIG. 5B, each of the series of trajectory data TA, TB corresponding to the series of motions MA, MB is individually assigned to each of the robots 200 ₁ , 200 ₂ .

CPU301 in step S103, based on the plurality of command sets CSA1, CSA 2, to generate a plurality of orbit data TA1, TA2-separated series of orbit data TA of the robot 200 ₁ in the interval S1, S2. Similarly, CPU 301 can command set CSB1, based on CSB2, to generate a plurality of orbit data TB1, TB2-separated series of orbit data TB of the robot 200 ₂ in the interval S1, S2. That is, the CPU 301 generates trajectory data TA1 based on the command set CSA1, generates trajectory data TA2 based on the command set CSA2, generates trajectory data TB1 based on the command set CSB1, and generates trajectory data TB2 based on the command set CSB2. Generate

  As described above, a series of trajectory data TA based on the plurality of operation commands CMA1, CMA2, CMA3,... Are generated by being divided into a plurality of trajectory data TA1, TA2. Similarly, a series of trajectory data TB based on a plurality of operation commands CMB1, CMB2, CMB3,... Is generated by being divided into a plurality of trajectory data TB1 and TB2. The trajectory data TA 1, TA 2, TB 1, and TB 2 are calculated in a range that does not exceed the constraint conditions such as the rotation speed and the rotation acceleration of each joint of the robot stored in the storage unit 302.

In section S1, by operating the robot 200 ₁ according to the trajectory data TA1, it can perform a partial operation MA1 to the robot 200 _1. Further, in the section S1, by operating the robot 200 ₂ according to the trajectory data TB1, it is possible to perform partial operations MB1 to the robot 200 _2.

Similarly, in the section S2, by operating the robot 200 ₁ according to the trajectory data TA2, it can perform a partial operation MA2 the robot 200 _1. Further, in the section S2, by operating the robot 200 ₂ according to the trajectory data TB2, it is possible to perform partial operations MB2 to the robot 200 _2.

Thus, in the first embodiment, a series of operations MA of the robot 200 ₁ is composed of a plurality of partial operation MA1, MA2, a series of operations MB of the robot 200 ₁ is comprised of a plurality of partial operation MB1, MB2.

Here, the sections S1 and S2 are set in the task program 312 so that the passing areas of the robots 200 ₁ and 200 ₂ do not interfere with the object. That is, the robot 200 ₁ and the robot 200 _2, the robot 200 ₁ and the obstacle 700, the robot 200 ₂ and the obstacle 700 are separated in advance so as not to interfere. The setting of the dividing point is performed by the operator at the time of the teaching performed previously. In each section S1, S2, each robot ₂₀₀ 1, 200 ₂ does not interfere with the object, it is not necessary to synchronize the robot ₂₀₀ 1, 200 ₂ together. That is, in step S103, may be calculated robot ₂₀₀ 1, 200 is no need to consider the synchronization between the _two, the robot ₂₀₀ 1, 200 ₂ individually orbit data TA1, TA2 and orbit data TB1, TB2.

  As described above, in steps S101, S102, and S103, a series of trajectory data TA, TB corresponding to the series of operations MA, MB are generated by being divided into a plurality of trajectory data TA1, TA2 and a plurality of trajectory data TB1, TB2. The series of trajectory data TA and TB may be stored in advance in the storage unit 302. In this case, the CPU 301 only needs to read a series of trajectory data TA and TB from the storage unit 302.

Next, the CPU 301 calculates and generates regions through which the virtual robot 200I ₁ passes based on the trajectory data TA1 and TA2 by simulation (S104). Similarly, the CPU 301 calculates and generates regions through which the virtual robot 200I ₂ passes based on the trajectory data TB1 and TB2 by simulation (S104). That is, at the stage of step S104, it is unclear which trajectory data TA1, TA2, TB1, and TB2 are to be changed. Therefore, the passage area of the virtual robots 200I ₁ and 200I ₂ based on all the trajectory data TA1, TA2, TB1 and TB2 is obtained as the passage area before the change.

Hereinafter, for example, the operation command CMA3 in FIG. 5A will be described as being changed. At step S104, thus generating the passage area of the virtual robot 200I ₁ based on the change before the track data TA1. FIG. 5C is an explanatory diagram of a simulation by the robot control device 300 in the first embodiment. In FIG. 5 (c), the virtual robot 200I ₁ based on the change before the track data TA1, and the operation of the virtual robot 200I ₂ based on orbital data TB1 of the same section S1 shown schematically. CPU301 in step S104, passage region from the trajectory of the virtual robot 200I _1, a first region virtual robot 200I ₁ has passed when virtually operate the virtual robot 200I ₁ according orbit data TA1 before change Find R1.

Specifically, as shown in FIG. 5 (c), the virtual robot 200I ₁ from the starting point SA orbit data TA1 to the end GA virtually operated in the virtual space RI, to generate a passage region R1 by the space swept. Virtual robot 200I ₁ is represented by a collection of polygons by using the CAD data 313 including the shape data of the robot 200 _1. The passage area R1 is obtained by operating a set of polygons in the virtual space RI using the trajectory data TA1. In addition, as a method of calculating | requiring the passage area | region of a moving body, the method of Swept Volume production | generation, the method of approximating a passage area | region to simple shapes, such as a cube or a sphere, etc. can be used, for example.

  Next, the CPU 301 changes the operation command according to the input instruction from the input device 400 by the operation of the worker (S105). FIG. 6A is a view for explaining trajectory generation of the robot in the first embodiment. For example, as shown in FIG. 6A, the CPU 301 changes the operation command CMA3 to an operation command CMA3A. Thus, the command set CSA1 is changed to the command set CSA1A.

When the motion command is changed, that is, the motion of the robot is changed, the CPU 301 executes the processes of steps S106 to S109 as an example of the interference check process. Each step S106 to S109 will be specifically described below. The CPU 301 generates trajectory data after the change as a partial operation after the change based on the command set including the change operation command (S106). FIG. 6B is a view for explaining trajectory generation of the robot in the first embodiment. As shown in FIG. 6B, the CPU 301 generates trajectory data TA1A after change based on the command set CSA1A in the section S1 including the operation command CMA3A. Be operated robot 200 ₁ according to the orbit data TA1A after the change, the part operation MA1A after the change. Thus, a series of track data TA with respect to the robot 200 ₁ is changed to a series of track data TAA. That is, a series of operations MA of the robot 200 ₁ is changed to a series of operations MAA.

Then CPU301 is passed through a second region virtual robot 200I ₁ has passed from the trajectory of the virtual robot 200I ₁ when the virtual robot 200I ₁ was virtually operated in the virtual space RI accordance orbit data TA1A the changed An area R2 is obtained (S107).

  Next, the CPU 301 compares the passage area R1 with the passage area R2. Specifically, the CPU 301 determines whether or not the passage area R1 includes the passage area R2 (S108). FIG. 7A and FIG. 7B are explanatory diagrams of simulation by the robot control device 300 in the first embodiment. FIG. 7 (a) illustrates the case where the passage region R1 includes the entire passage region R2, and FIG. 7 (b) illustrates the case where the passage region R1 does not include a part of the passage region R2. ing.

As shown in FIG. 7A, when the passing area R1 includes all of the passing area R2 (S108: Yes), the CPU 301 does not perform interference confirmation and ends the teaching as it is. This makes it possible to manufacture an article using the robots 200 ₁ and 200 ₂ . That is, the CPU 301 can receive an input instruction by the operation of the button 411 of the teaching pendant 403, and when receiving the input instruction, operates the robots 200 ₁ and 200 ₂ according to the task program 312 to perform production work.

CPU301, as shown in FIG. 7 (b), when the passing area R1 does not include a portion of the passage region R2 (S108: No), by operating the robot 200 _1, the robot 200 ₁ interference surrounding objects An interference confirmation process is performed to confirm whether or not to do (S109). In this case, regions R11 and R12 which do not overlap with the passage region R1 exist in the passage region R2.

  Hereinafter, the process of interference confirmation in step S109 will be specifically described. FIG. 8 is a flowchart showing processing of interference confirmation in the robot teaching method according to the first embodiment. When the CPU 301 determines that the passage area R1 does not include a part of the passage area R2 in step S108 of FIG. 4 (S108: No), an image showing a warning that the operator knows that interference confirmation is necessary Are displayed on the display device 500 (S111). Thus, the worker sees the display device 500 and knows that the interference confirmation is necessary.

Here, in the first embodiment, the production operation by the robots 200 ₁ and 200 _{2 is} not performed unless the interference confirmation is performed on the trajectory data TA1A of the section S1 in which the interference confirmation is necessary. Specifically, a button 411 of the teaching pendant 403 shown in FIG. 1 is a button for inputting an instruction to start production work to the robot control apparatus 300. Even when the button 411 is operated, the CPU 301 of the robot control device 300 does not receive the input instruction, and does not carry out the production work by the robots 200 ₁ and 200 ₂ . This makes it possible to eliminate the interference confirmation leak.

The CPU 301 determines whether the button 410 of the teaching pendant 403 shown in FIG. 1 has been operated (S112). That is, the CPU 301 determines whether an input instruction from the input device 400 has been received. If the button 410 is not operated (S112: No), the CPU 301 stands by as it is. CPU301, when button 410 is operated, i.e., when receiving an input instruction from the input device 400 (S112: Yes), starts actual robot 200 _first operation for confirmation interference (S113).

To be more specific, CPU 301 may, after operating the start SA orbit data TA1A the changed robot 200 _1, to actual operation of the robot 200 ₁ according to the orbit data TA1A after the change. That, CPU 301 causes only made part operation MA1A after the change of the series of operations MAA to the robot 200 _1. Here, CPU 301 may robot 200 ₂ other than the robot to be operated for confirmation interference among the taught points included in the orbit data TB1, is moved to any point in the attitude of the time (the predetermined position) Stop it. That is, to operate the robot 200 ₁ while stopping the robot 200 ₂ in a predetermined posture.

At this time, CPU 301 is slower than the speed based on the trajectory data TA1A the changed to perform the partial operation MA1A after the change in the robot 200 _1. Thus, the robot 200 ₁ can reduce the impact force when interfering with the object (e.g., collision or contact with the object).

Although the button 410 of the teaching pendant 403 has been described as an example, the present invention is not limited to this as long as the operator can operate the input device 400. CPU301 is input instruction after receiving a from the input device 400 by operating the operator may start the operation of the robot 200 _1.

Further, to display an image indicating a warning on the display device 500, after receiving an input instruction from the input device 400 has been described the case of operating the robot 200 _1, not limited thereto. For example, if the passage area R1 does not include a portion of the passage region R2 (S108: No), the even without input instruction from the input device 400, may be configured to operate the robot 200 _1. In this case, the display of the warning on the display device 500 may be omitted.

CPU301, after starting the operation of the robot 200 ₁ determines whether the interference in the robot 200 ₁ has occurred (S114). Determination of whether the interference in the robot 200 ₁ occurs, may be carried out by using a sensor or the like. For example, a force sensor (not shown) provided in the robot 200 _1, it can be performed based on the detection result of the visual sensor (not shown) provided in the vicinity of the robot 200 ₁ or the robot 200 _1. Incidentally, the operator visually confirmed, the operator operates the input device 400 when the interference in the robot 200 ₁ occurs, may notify the CPU301 that interference has occurred.

CPU301 is unless the interference is generated (S114: No), determines whether the robot 200 _first portion operation MA1A has been completed (S115). That, CPU 301 determines whether the robot is operated 200 ₁ to the end point GA orbit data TA1a. If the robot 200 ₁ has not reached the final point GA, ie if no operation of the robot 200 ₁ is finished (S115: No), it repeats the determination returns to step S114.

CPU301 is, if the operation of the robot 200 ₁ is completed (S115: Yes), since the interference at the robot 200 ₁ not occurred, is displayed on the display device 500 to the effect that not interfering (S116), the teachings finish. This allows the worker to recognize that there is no interference. Further, the CPU 301 can receive an input instruction by the operation of the button 411.

CPU301, when interference occurs (S114: Yes), immediately robot 200 ₁ is stopped (S117), interference is displayed on the display device 500 that it has occurred (S118). Thereby, the worker can recognize that the interference has occurred. Then, when the worker operates the input device 400 to change the operation command, the CPU 301 returns to step S105 in FIG. 4 and repeats the same processing. Or more, when the interference in the robot 200 ₁ has not occurred, it is possible to resume the production process.

As described above, according to the first embodiment, when the passing area R1 includes the passing area R2, the interference confirmation is omitted, so the time required for teaching the robots 200 ₁ and 200 ₂ can be shortened. When the passage area R1 does not include even a part of the passage area R2, interference confirmation of the robots 200 ₁ and 200 ₂ is performed. Also in this case, since the interference confirmation is performed only in the changed section, the interference confirmation operation can be minimized, and the time required for teaching the robots 200 ₁ and 200 ₂ can be shortened.

Second Embodiment
Next, a robot teaching method and apparatus according to the second embodiment will be described. FIG. 9 is an explanatory view of a simulation by the robot control device in the second embodiment. The configuration of the robot system in the second embodiment is the same as that of the first embodiment, and the description will be omitted. In the second embodiment, the process of step S103 shown in FIG. 4 is different from that of the first embodiment. In the second embodiment, the steps other than step S103 are the same as in the first embodiment, and thus the description thereof will be omitted. In the first embodiment, it has been described that the passing area R1 is preferably the area through which the virtual robot 200I ₁ has passed, but the present invention is not limited to this. The passing area R1 may be an area including the area through which the virtual robot 200I ₁ has passed. That is, passage region R1 occupies more area virtual robot 200I ₁ has passed half may be slightly wider area than the virtual robot 200I ₁ has passed.

In FIG. 9, as in FIG. 5C, trajectory data TA1 corresponding to the partial operation MA1 before the change is illustrated as an example. In Figure 9, the region R0, the virtual robot 200I ₁ is a region that passes when operating the virtual robot 200I ₁ according orbit data TA1. In the second embodiment, the passage area R1 is set to an area expanded more than the area R0.

In the case where the possibility of interference in the robot 200 ₁ (see FIG. 1) is extremely low, the passing region R1 can be expanded beyond the region R0 according to the input instruction of the operator by the input device 400. For example, as shown in FIG. 9, with respect to the area R0, the area is expanded in the vertical direction of the polygon by a predetermined amount O and is set as the passing area R1. Although FIG. 9 exemplarily illustrates the case where the predetermined amount O is expanded, the present invention is not limited to this, and may be partially expanded.

Third Embodiment
Next, a robot teaching method and apparatus according to the third embodiment will be described. FIG. 10 is a flowchart showing processing of interference confirmation in the robot teaching method according to the third embodiment. FIG. 11 is an explanatory diagram of simulation by the robot control device in the third embodiment. The configuration of the robot system in the third embodiment is the same as that of the first embodiment, and the description will be omitted. In the third embodiment, the process of step S301 is performed between step S112 and step S113 shown in FIG.

That is, in step S301, the CPU 301 extracts the operation of the regions R11 and R12 of a portion where the passing region R2 does not overlap the passing region R1 as a part of the operation requiring the interference confirmation. Then, CPU 301, in a next step S113, among the partial operation MA1A after the change (FIG. 6 (b)), the region R11 of the portion where the passage area R2 does not overlap with the passage region R1, the operation of the R12, the robot 200 ₁ Let me do it. Specifically, CPU 301 is, after performing the operation of the region R11 in the robot 200 ₁ to perform the operation region R12.

As described above, in the third embodiment, in the interference confirmation, of the partial operation MA1A after the change (FIG. 6B), only a part of the operation to the regions R11 and R12 is performed. Of course, it also includes the operation of moving to the start point of the trajectory data for the region R11. Accordingly, it than to perform all of the first embodiment and parts operation MA1A after the change as in the second embodiment (FIG. 6 (b)) to the robot 200 _1, further shortening the time required for the interference confirmation And the time required for teaching can be further shortened.

  Note that the timing of performing the process of step S301 is not limited to between step S112 and step S113 shown in FIG. 10, and it may be performed at any timing before step S113.

Fourth Embodiment
Next, a robot teaching method and apparatus according to the fourth embodiment will be described. FIG. 12 is a flowchart showing processing of interference confirmation in the robot teaching method according to the fourth embodiment. FIG. 13 is an explanatory diagram of a simulation by the robot control device in the fourth embodiment. The configuration of the robot system in the fourth embodiment is the same as that of the first embodiment, and the description will be omitted. In the fourth embodiment, the process of step S401 is performed between step S301 and step S113 shown in FIG.

That, CPU 301 in step S401, obtains the teaching point for robot 200 ₂ in section S1 including the orbit data TA1T the changed (see Figure 6 (b)). To be more specific, CPU 301 obtains a teaching point PN corresponding to the virtual position of the virtual robot 200I ₂ when the distance between the virtual robot 200I ₁ and the virtual robot 200I ₂ is minimized.

Then, CPU 301 in step S113, the robot is operated 200 ₂ to the teaching point PN obtained in step S401, is stopped at a position (predetermined position) at that time. Thus, CPU 301 would operate the robot 200 ₂ to the actual attitude corresponding to the virtual position of the virtual robot 200I ₂ when the distance between the virtual robot 200I ₁ and the virtual robot 200I ₂ is minimized. Thus, the robot 200 ₂ may take the posture suitable for an interference confirmation.

Thus, in the fourth embodiment obtains the teaching point PN for interference checking that the virtual robot 200I _1, 200I ₂ each other closest, previously robot 200 ₂ is stopped at the position of the teaching point PN. As a result, the clearance between the robots 200 ₁ and 200 ₂ is narrow, and it becomes easy to reproduce a state suitable for interference confirmation.

Here, it is conceivable to stop at the position of the teaching point stored in the task program 312 robot 200 ₂ in a predetermined posture. It is also conceivable to stop the robot 200 ₂ in a predetermined posture with teach pendant 403 while the operator visually when you are the robot 200 ₂ is operated in accordance with the track data. According to the fourth embodiment, as compared with these methods, it is possible to easily reproduce the attitude suitable robot 200 ₂ to the interference checking. Further, since the CPU301 calculates the teaching point PN automatically, as compared with the case where the robot is stopped 200 ₂ using the teach pendant 403 while viewing the operator, greatly reduces the burden on the operator, the time required for the interference confirmation Can be shortened.

  The timing at which the process of step S401 is performed is not limited to between step S301 and step S113 shown in FIG. 12, and may be performed at any timing before step S113.

In the fourth embodiment, the case where the teaching points PN at which the virtual robots 200I ₁ and 200I ₂ are closest to each other is obtained is described, but the invention is not limited to this. For example, the teaching point may be obtained from a range in which the distance between the virtual robots 200I ₁ and 200I ₂ is equal to or less than a threshold.

  The present invention is not limited to the embodiments described above, and many modifications are possible within the technical concept of the present invention. In addition, the effects described in the embodiment only list the most preferable effects arising from the present invention, and the effects according to the present invention are not limited to those described in the embodiment.

  Although the above-mentioned embodiment explained the case where a robot was a perpendicular articulated robot, it does not limit to this. The present invention is applicable to various robots such as a robot having horizontal articulated joints, a robot having parallel links, and an orthogonal robot.

  Further, in the above embodiment, the case of performing simulation and control of a real machine by one CPU 301 of the robot control device 300 has been described, but the present invention is not limited to this. Processing is shared by multiple CPUs (or cores) You may do it. For example, the robot control apparatus 300 may include a simulator that performs simulation and a controller that controls an actual machine, and may be communicably connected between the simulator and the controller. In this case, the controller may calculate the trajectory data, the simulator may receive the trajectory data from the controller, calculate the passage regions R1 and R2, and compare the passage region R1 with the passage region R2. When the passage area R1 does not include the passage area R2, the controller may operate the robot according to the trajectory data.

  Moreover, in the above-mentioned embodiment, although two robots were demonstrated to the example as a some robot, also in the case of three or more robots, the necessity of interference confirmation can be judged in the same procedure. Moreover, although it is suitable when a robot system is equipped with several robots, even when it is equipped with only one robot, this invention is applicable.

  The present invention supplies a program that implements one or more functions of the above-described embodiments to a system or apparatus via a network or storage medium, and one or more processors in a computer of the system or apparatus read and execute the program. Can also be realized. It can also be implemented by a circuit (eg, an ASIC) that implements one or more functions.

100 ... robot system, 200 ₁ , 200 ₂ ... robot, 200I ₁ , 200I ₂ ... virtual robot, 300 ... robot control device (processing unit), 311 ... control program (program), 350 ... robot control system (robot teaching device) , 400 ... input device (input unit), 500 ... display device (display unit)

Claims (14)

A robot teaching method using a processing unit capable of executing an actual operation that causes a robot to perform a series of operations including a plurality of partial operations and a simulation that causes a virtual robot corresponding to the robot to perform the series of operations in a virtual space And
When any one of the plurality of partial actions is changed, the processing unit performs a first area including an area through which the virtual robot passes by the partial action before the change, and the virtual area by the partial action after the change As a result of comparison with a second area through which the robot passes, it is provided that, if the first area does not include the second area, an interference confirmation step of causing the robot to perform the partial operation after the change
A robot teaching method characterized in that In the interference confirmation step, the processing unit causes the display unit to display a warning when the first region does not include the second region, and the change is received when an input instruction from the input unit is received. Have the robot perform the latter partial motion,
The robot teaching method according to claim 1, characterized in that: The first area is an area through which the virtual robot passes by the partial operation before the change.
The robot teaching method according to claim 1 or 2, characterized in that: The first area is an area expanded more than the area through which the virtual robot passes by the partial operation before the change.
The robot teaching method according to claim 1 or 2, characterized in that: The processing unit causes the robot to perform an operation of a portion where the second area does not overlap the first area among the partial operations after the change in the interference confirmation step.
The robot teaching method according to any one of claims 1 to 4, characterized in that: The processing unit acquires a plurality of motion commands to be performed by the robot, divides the plurality of motion commands into a plurality of command sets including one or more motion commands, and, based on the plurality of command sets, the plurality of motion commands. Generate multiple trajectory data corresponding to the partial motion of
In the interference confirmation step,
The processing unit generates post-modification trajectory data corresponding to the post-modification partial motion based on a command set including the modified motion command.
Determining the first region from the trajectory of the virtual robot when the virtual robot is virtually operated according to trajectory data before change;
Determining the second region from the trajectory of the virtual robot when the virtual robot is virtually operated according to the changed trajectory data;
The robot teaching method according to any one of claims 1 to 5, characterized in that: In the interference confirmation step, the processing unit causes the robot to perform the partial motion after the change at a speed lower than a speed based on the trajectory data after the change.
The robot teaching method according to claim 6, characterized in that: It is possible to cause each of the plurality of robots to perform a series of operations individually assigned to each of the plurality of robots.
A series of motions of each of the plurality of robots comprises the plurality of partial motions separated by the same time zone,
The robot teaching method according to any one of claims 1 to 7, characterized in that: In the interference confirmation step, the processing unit causes the robot other than the robot that performs the partial operation after the change to stop in a predetermined posture.
The robot teaching method according to claim 8, characterized in that: The predetermined posture is a virtual posture in which the distance between the virtual robot corresponding to the robot performing the partial operation after the change and the virtual robot corresponding to the robots other than the robot performing the partial operation after the change is minimum. The corresponding real attitude,
The robot teaching method according to claim 9, characterized in that: And a processing unit capable of executing an actual operation that causes a robot to perform a series of operations including a plurality of partial operations, and a simulation that causes a virtual robot corresponding to the robot to perform the series of operations in a virtual space.
When any one of the plurality of partial actions is changed, the processing unit performs a first area including an area through which the virtual robot passes by the partial action before the change, and the virtual area by the partial action after the change As a result of comparison with a second area through which the robot passes, when the first area does not include the second area, the robot is caused to perform the partial motion after the change.
A robot teaching apparatus characterized in that A robot teaching device according to claim 11;
And the robot.
A robot system characterized by   A program for causing a computer to execute the robot teaching method according to any one of claims 1 to 10.   The computer-readable recording medium which recorded the program of Claim 13.

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