JPH05224732A - Locus display system - Google Patents

Abstract

PURPOSE:To acquire the information on the attitude of an moving active object from the locus of the tip point of the active object. CONSTITUTION:A locus 10 is obtained with simulation of the locus (moving path) of a finger 21 of a robot 20 and then shown on a display 30 of an off-line programming device of a work station, etc. That is, the locus 10 shows a band- shaped continuous body which is drawn around the moving path of the finger 21 in the prescribed width W. Therefore an operator can know not only the moving path of the finger 21 of the robot 20 but also the attitude of the robot 20 from the locus 10 displayed on a screen. Furthermore the attitude of the robot 20 can be known with higher accuracy when the locus 10 is shown in a color.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a trajectory display system for displaying a trajectory of a tip of an operating object, and more particularly to a trajectory display method capable of obtaining information on the attitude of an operating object.

[0002]

2. Description of the Related Art In off-line programming of a robot or the like, an operation simulation may be performed in advance in order to check the feasibility and reliability of the program. At that time, the locus of the tip of the active object such as a robot is simply displayed on the screen as a line in space.

[0003]

However, if the locus is displayed only as a line, the locus of the tip point of the active object can be surely known, but it is not known in which posture the active object follows the locus. That is, no information regarding the posture of the active object during movement can be obtained from the display screen.

The present invention has been made in view of the above circumstances, and provides a trajectory display system capable of obtaining information on the attitude of the active object during operation from the trajectory of the tip of the active object. The purpose is to

[0005]

In order to solve the above problems, the present invention provides a trajectory display system for displaying the trajectory of the tip of an object in motion, wherein the trajectory is displayed as a continuous body having a width. A trajectory display method is provided, which is characterized by the following.

[0006]

When the trajectory of the tip of the moving object (active object) is simulated, the trajectory is displayed as a continuous body having a width. From the continuum displayed on the screen, the operator can know not only the trajectory of the tip of the active object but also the attitude of the active object. For example, when the width direction of the continuum is set to be perpendicular to the tip portion of the active object, the posture of the active object can be known from the width direction of the continuum.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram for explaining the trajectory display method of the present invention. In the figure, a locus 10 is a simulation of the locus (motion path) of the hand 21 of the robot 20. This trajectory 10 is displayed on the display 30 of an off-line programming device such as a workstation. As shown in the figure, the trajectory 10 is drawn as a strip-shaped continuous body along the movement path of the hand 21 of the robot 20.

FIG. 2 is an explanatory view of the locus. Locus 10 is
It is a strip-shaped continuum drawn with a predetermined width W centering on the movement path of the hand 21 of the robot 20, and the direction of the width W is perpendicular to the hand 21.

FIG. 3 is an explanatory diagram of a method of creating a locus. In the figure, the hand 21 of the robot 20 moves from point Pi to point Pi.
If it moves to +1, the locus 10A at that time is created as follows. First, a vector V connecting the points Pi and Pi + 1 is obtained. Next, centering on the vector V, the XY plane at the point Pi and the XY plane at the point Pi + 1 are interpolated to form a strip-shaped continuum with a predetermined width W. The continuum is displayed as a locus 10A.

FIG. 4 is a flow chart showing a procedure for creating a locus. The numbers following S in the figure represent step numbers. [S1] The data of the point Pi and the point Pi + 1 are taken, and the coordinates of the three-dimensional position are recognized. [S2] The vector V is obtained. [S3] A belt-shaped continuous body is formed with a predetermined width W around the vector V. When the continuum is color-coded, for example, the positive direction on the Z-axis is red as the front surface and the negative direction is blue as the back surface. [S4] The strip-shaped continuum is displayed as the locus 10A. When the colors are classified in step S3, for example, blue is displayed when the continuum is viewed from the negative direction of the Z axis, and red is displayed when the continuum is viewed from the positive direction of the Z axis, depending on the viewpoint during simulation. Is displayed.

In this way, when simulating the trajectory 10 of the hand 21 of the robot 20, the trajectory 10 is displayed as a strip-shaped continuous body having a width W. The hand 21 passes through the center of the width W of the continuum and is perpendicular to the direction of the width W. Therefore, the operator can know not only the movement path of the hand 21 of the robot 20 but also the posture of the robot 20 from the trajectory 10 displayed on the screen. Further, by color-coding the locus 10, it is possible to know the posture of the robot 20 more reliably. For example, the posture of the robot 20 can be accurately recognized regardless of the viewpoint position designated by the operator during the simulation.

FIG. 5 is a diagram showing a second embodiment of the present invention. The locus 11 in this embodiment is the hand 2 of the robot 20.
It is drawn as a strip-shaped continuous body having a predetermined thickness h in the same direction as 1. From this trajectory 10, the operator can not only know the movement path of the hand 21 of the robot 20, but also the robot 20 in the same direction as the thickness h of the continuum.
Can recognize the posture of.

FIG. 6 is a diagram showing a third embodiment of the present invention. The locus 12 in this embodiment has a thickness H further added to the locus 10 in the first embodiment. The operator can recognize the posture of the robot 20 in the thickness H direction of the continuum.

FIG. 7 is a diagram showing a fourth embodiment of the present invention. The locus 13 in this embodiment has a width w further than that of the locus 11 in the second embodiment, and the operator moves the robot 20 in a direction perpendicular to the width w of the continuum. The posture can be recognized.

FIG. 8 is a diagram showing a fifth embodiment of the present invention. The locus 14 in this embodiment is different from the locus 10 in the first embodiment in that the width W thereof is further changed according to the operating speed of the hand 21. That is, when the movement speed of the hand 21 is fast, the width W1 is narrow as shown by the locus 14A, and when the movement speed of the hand 21 is slow, the width W2 is wide as shown by the locus 14B. The operator can also recognize the operation speed of the hand 21 from the change in the width W of the continuum.

FIG. 9 is a diagram showing a sixth embodiment of the present invention. The locus 15 in this embodiment is the locus 1 in the fifth embodiment.
Similar to 4, the operating speed of the hand 21 is also displayed. That is, the locus 10 in the first embodiment is provided with shading, and the shading is changed according to the operating speed of the hand 21. When the movement speed of the hand 21 is fast, it is displayed in dark as shown by the locus 15A, and when the movement speed of the hand 21 is slow, it is displayed in light as shown by the locus 15B. The operator can also recognize the operation speed of the hand 21 from the change in the shading.

FIG. 10 is a diagram showing a schematic configuration of an off-line programming device for implementing the trajectory display system of the present invention. The processor 101 controls the operation of the entire apparatus according to the system program stored in the ROM 102. R
The OM 102 is composed of EPROM or EEPROM. The RAM 103 is composed of a DRAM or the like, and temporarily stores various data, data for arithmetic processing, and the like.

The floating-point processor 104 performs interpolation calculation for creating a continuum. The graphic control circuit 105 converts the digital signal into a signal for display and gives it to the display device 106. A CRT or a liquid crystal display device is used as the display device 106.

The hard disk 108 stores various data and programs for executing the present invention, and is controlled by the hard disk controller 107. The input / output port 109 is for inputting / outputting various data, and is a keyboard 110 having a command key and a ten-key pad.
And a mouse 111 is connected. At the time of executing the simulation, various commands are sent from the keyboard 110 and the mouse 111.

These components are coupled to each other by a bus 120. In the above second to sixth embodiments,
Although the description has been given of the case where the loci 11 to 15 are not colored, the robot 2 can be colored more reliably as in the first embodiment.
It can also be configured to display a zero posture.

Further, in the above description, the present invention is applied to the locus of the robot, but the present invention is not limited to the robot and can be applied to the locus of an object that operates such as a machine tool.

[0022]

As described above, in the present invention, when simulating the locus of the tip of the moving object (active object), the locus is displayed as a continuous body having a width. .. Therefore, the operator can know not only the trajectory of the tip of the active object but also the attitude of the active object from the continuum displayed on the screen. For example,
When the width direction of the continuum is set to be perpendicular to the tip portion of the active object, the posture of the active object can be known from the width direction of the continuum. Further, by color-coding the continuum, it is possible to know the posture of the active object more reliably.

[Brief description of drawings]

FIG. 1 is a diagram illustrating a trajectory display system of the present invention.

FIG. 2 is an explanatory diagram of a locus.

FIG. 3 is an explanatory diagram of a method of creating a trajectory.

FIG. 4 is a flowchart showing a procedure for creating a trajectory.

FIG. 5 is a diagram showing a second embodiment of the present invention.

FIG. 6 is a diagram showing a third embodiment of the present invention.

FIG. 7 is a diagram showing a fourth embodiment of the present invention.

FIG. 8 is a diagram showing a fifth embodiment of the present invention.

FIG. 9 is a diagram showing a sixth embodiment of the present invention.

FIG. 10 is a schematic configuration diagram of an off-line programming device that implements the trajectory display system of the present invention.

[Explanation of symbols]

 10-15 Trajectory 20 Robot 21 Robot hand 30 Display

Claims (9)

[Claims] 1. A trajectory display method for displaying a trajectory of a tip portion of a moving object, wherein the trajectory is displayed as a continuous body having a width. 2. The trajectory display system according to claim 1, wherein the width direction is a direction perpendicular to a tip portion of the moving object. 3. The trajectory display system according to claim 1, wherein different colors are applied to the front and back of the continuum. 4. The continuous body according to claim 3, wherein the surface in the same direction as the direction of the tip portion is the front surface, and the surface in the opposite direction to the direction of the tip portion is the back surface. Trajectory display method. 5. The trajectory display system according to claim 1, wherein the width, the shading and the like of the continuum are changed according to the operation speed of the tip portion. 6. The trajectory display system according to claim 1, wherein the continuum has a shape having a thickness. 7. The trajectory display system according to claim 6, wherein the direction of the thickness is the same as the direction of the tip portion. 8. The trajectory display system according to claim 1, wherein the continuum has a shape having both a width and a thickness. 9. The trajectory display system according to claim 1, wherein the moving object is a robot.