JPH05309582A - Robot off-line teaching system and robot operation analysis device - Google Patents

Abstract

(57) [Summary] [Structure] The command interpreting unit 3 interprets a command instructing the target position / orientation of the robot operating point and the mutual target state with the work target, and the motion program creating unit 5 interprets the result. Generate a target trajectory in the environment of the environmental model based on
An operation program for performing control along this target trajectory is created. Further, the target state determination program creating section 6 creates a determination program for confirming the achievement of the target state based on the information from the force sensor of the robot. In creating the motion program, interference with other objects in the environment when the robot moves around a region having a size corresponding to the position error around the target trajectory is determined, and the result is reflected in the generation of the target trajectory. [Effect] Even if the work environment represented by the environment model has a slight difference from the actual work environment, the work can be achieved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot offline teaching system and a robot motion analysis apparatus.

[0002]

2. Description of the Related Art Although the desire to introduce industrial robots into manufacturing factories has not weakened in recent years, teaching that teaches robot operation is being promoted as the number of robots increases and the tendency toward high-mix low-volume production increases. The demand for reducing the work load is increasing. An offline teaching system was introduced several years ago as a means to drastically improve the work efficiency of teaching work. Since this offline system is separate from the production line, it is possible to perform teaching work without reducing the operating rate of the production line.
It has received a great deal of attention in the industry. With the recent improvement in the functions of computers, some of these offline systems have a three-dimensional CAD system function, and some have a function of checking the interference between the robot and the work during robot operation.

[0003]

However, in the offline teaching system, in order to set the trajectory of the robot based on the environment model inside the computer, the robot included in the environment model and the tools attached to the robot are included. Although the shape data and position data of the work processed by the tool are required to match the actual shape and position exactly, the error actually generated during the installation of the robot / work, For large robots, it is necessary to perform calibration work on site due to the effects of arm deflection, which is a factor that keeps offline teaching systems from becoming widespread.

Further, the force control, which has been put into practical use in recent years, has only been applied to a simple work such as a grinder work, and has not yet been used for a complicated work such as an assembly work.

Therefore, the present invention solves the above-mentioned problems of the prior art, enables the work to be achieved even when the work environment represented by the environment model has a slight error from the actual work environment, and is capable of achieving the power. Elemental control, ie force control,
An object of the present invention is to provide an off-line teaching system for a robot and a motion analysis device for the robot, which can handle complicated things such as compliance control and impedance control.

[0006]

An off-line teaching system for a robot according to the present invention includes an environment model generating section for generating an environment model representing a three-dimensional work environment of the robot, a target position / orientation of an operating point of the robot, and the above-mentioned. A command interpreting unit that interprets a command instructing a target state in the mutual relationship between the robot operating point and the work target, and based on the result of the command interpreting unit, the operating point of the robot in the working environment represented by the environment model A robot operation program creation unit that creates a target trajectory to be taken and creates a robot operation program for controlling the robot so that the robot operation point makes a state transition along the target trajectory, and is output from the robot. Create a target state determination program to determine whether the target state has been achieved based on sensor information Characterized in that a target state determination program creation unit that.

Further, the robot motion analysis apparatus of the present invention comprises an environment model generating section for generating environment model information representing the robot work environment in three dimensions, and an operating point of the robot within the work environment represented by the environment model. A target trajectory generation unit that generates target trajectory information to be taken, an error information generation unit that generates error information for a position where the environment model indicates the operating point of the robot and a position where the environment model indicates the work target, and The target trajectory is divided by a size corresponding to the position error amount indicated by the error information, and the position and orientation of the robot operating point are used as variables around each point 6
A search area generation unit that sets a dimensional search area and each of the plurality of search areas as processing targets in order, and confirms the interference between the operation point of the robot and the work target at all boundary points of the processing target search area. , An interference confirmation processing unit that divides the processing target search area into smaller pieces only when a plurality of interferences are recognized and confirms the interference between the operation point of the robot and the work target at each boundary point thereof. It is characterized by

The operating point of the robot means not only the operating point of the robot itself, such as the hand of the robot body or the tool forming portion formed at this hand, but also the tool attached to the robot's hand. Is.

Further, the work target corresponds to a work in the case of a processing robot and a loading / unloading unit such as a table in the case of a transfer robot.

[0010]

According to the robot off-line teaching system of the present invention, the target state determination for determining whether or not the relative target state between the robot operating point and the work target is achieved based on the sensor information output from the robot. Since it has a function to create a program, it is possible to control the robot operating point until the target state is achieved while confirming the relative relationship between the robot operating point and the work target using sensor information. Work can be achieved even when the represented work environment has a slight difference from the actual work environment.

Further, in the work required to set the tool and the work in a certain target restraint state such as an assembly work by a command for instructing the mutual relation between the robot operating point and the work target as the target state. It is possible to directly specify the target restraint state without converting the state to be set to the position of the tip point of the robot or the position of the tool tip point.

Next, according to the robot motion analysis apparatus of the present invention, what kind of interference occurs with the work when the robot moves around the target trajectory of the robot operation point in an area corresponding to the size of the position error. Therefore, the interference state is checked in detail, as if which part is in contact with the robot operating point and the shape and structure of the work target, etc., depending on the result. be able to. By reflecting this confirmation result in the target position / posture and target state of the robot, and by reflecting it in the target state determination program, even if the robot operating point and the shape / structure of the work target are complicated, reliable robot operation is possible. Can be realized.

[0013]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows a schematic configuration of an embodiment of the present invention relating to a robot offline teaching system.

In the figure, a robot offline teaching system 1 includes a user interface section 2
A command interpreting section 3, an environment model operating section 4, a robot operation program creating section 5, a target state determination program creating section 6, a robot controller interface section 7, a terminal device 8 having a display / keyboard,
It is composed of an environment model 9. Further, the offline teaching system 1 is connected to a robot controller to which the robot operation program (robot language) created by this is downloaded. This robot controller has force control, compliance control,
It has the function of impedance control.

Hereinafter, a method of teaching with the use of the robot offline teaching system having the above-described configuration, and processing contents of the system will be described with reference to FIG.

In FIG. 2, first, in step S101, an operator makes a terminal based on an environment model 9 that three-dimensionally represents the environment of a robot, a tool attached to the robot, a workpiece to be processed by the tool, and the environment of the robot. The operation of the robot is instructed through the keyboard of the terminal device 8 according to the shape / position of the robot tool work displayed on the display of the device 8. As commands, robot operating points, move commands that move the tool position to the target position, robot operating points,
Prior to the move command for changing the constraint state between the tool and the work to the target state and the robot movement command, the robot control method at the time of movement is designated.
There are an trol command and an orbit command for designating a trajectory interpolation method up to the target position.

Here, the move command is specified as move (number, position, posture). The number is a coordinate system number that is defined in advance at the robot operation point, tool tip, etc. by the coordinate system definition command. The position / orientation is the amount of translational / rotational displacement of the designated coordinate system from the reference coordinate system.

In addition, in the move command, it is designated as move (type, number, type, number). In order from the left, the type specifies whether the target for which the constraint state is specified is a vertex, a ridge, or a face, and the next number is any vertex, or a ridge / face in the environment model 9. It is to specify whether or not. Subsequent types and numbers are likewise designated for the opponent subject instructing the restraint state. The number is a number defined inside the environment model 9. In addition, when instructing a state in which a plurality of constraint states are satisfied at the same time, the unit command smove (...) is indicated by "&" like "smove (type, number, type, number) & move (type, number, type, number)". By connecting them, it is possible to continuously indicate the restrained state.

In step S102, the operator inputs a series of commands and then issues an operation confirmation command.

Then, in step S103, the series of commands is sent to the command interpreting section 3 via the user interface section 2, and the interpretation result in the command interpreting section 3 is sent to the robot motion program creating section 5 in sequence. The robot operation program creating unit 5 calculates a robot target trajectory for reaching a target position designated by a series of input commands. At this time, move
If the robot target orbit that moves to the target position of the robot operating point / tool specified by the command is specified in advance by the orbit command for specifying the trajectory interpolation method, if it is not specified by the specified method, It is generated by interpolating by the default method. Also, determine whether the trajectory generated by the specified interpolation method will interfere with the surrounding work etc.
Based on the position data, the robot operation program creating section 5 checks the interference, and if there is interference, a new trajectory that reaches the target position without interfering with the surrounding work is generated. Trajectory generation is performed by the shortest distance search in the configuration space with the joint angle of the robot as a variable, as described in Japanese Patent Application No. 1-97506 (Invention title “Manipulator trajectory generation method”). Further, at the same time as the trajectory generation, the robot operation program creation unit 5 attaches the control method display data to the program so that the operation of the robot is controlled by the control method indicated by the control command for each designated section. This allows
The optimum control method can be set for each section in the orbit.

In the case of the smove command, the target position of the tool is first calculated from the constraint state of the tool designated as the target state and the constraint state of the work, and the shape / position data of the work included in the environment model 9, and thereafter the move position is calculated. Performs the same processing as for a command.

When the trajectory of the robot is generated, the operation of the robot according to the trajectory and the control method is displayed on the display of the terminal device 8 in step S104, so that the operator can specifically determine the environment around the robot. It is possible to get an image of moving inside. As a result, if the inconvenient operation is found, the operator returns to step S101 and inputs the command again.

If the operator determines that there is no problem in the operation of the robot by repeating the above procedure, step S10
Moved to 5, offline teaching system 1 is smo
An algorithm for determining whether or not the target state specified by the ve command has been achieved by the combination of sensor signals is obtained.

The target state determination algorithm in the work of placing the box 12 in the block 11 which is the work by the robot 10 of FIG. 3 will be described below. Robot 10
A 6-axis force sensor 13 is attached to the wrist of the robot, and a joint angle sensor that measures a joint angle is attached to each joint of the robot 10. And sm
If the move command is given as “smove (face, face fa, face, face fb)”, the target position of the box 12 is calculated from the data inside the environment model 9. Note that the above fa
Is the front surface of the block 11, and fb is the back surface of the box 12.

If the target position of the box 12 can be calculated,
Similarly, the target joint angle can be calculated from the kinematics data of the robot 10 included in the environment model 9.
Therefore, if the value of the joint angle sensor attached to each joint approaches the value of the target joint angle, it can be seen that the target state is approached. However, if there is an error between the shape / position data inside the environment model 9 and the actual shape / position, they do not match exactly.

Further, the direction of the reaction force received from the block 11 by the box 12 at the tip of the robot can be calculated from the target trajectory of the robot created up to step S104 and the target restraint state designated by the above command. Although the reaction force is almost a drag force, although it fluctuates to some extent depending on the magnitude of the frictional force, its direction is the normal direction of the surface when the surface ← → point surface ← → ridge line ← → surface constraint, and the ridge line ← → In the constraint of ridgeline, it becomes the common normal direction of two ridgelines. Therefore, from the values of the shape / position data of the block 11 and the shape / position data of the box 12 inside the environment model 9, the direction of the force measured by the force sensor 13 at the time of target restraint can be almost calculated. The calculated value has an error between the actually measured value due to the magnitude of the frictional force and the error between the shape / position data inside the environment model 9 and the actual shape / position. However, it is possible to make the judgment in most cases by incorporating a tolerance into the judgment algorithm that allows the target restraint state to be distinguished from other states. In the case of the robot operation / target restraint state of FIG. 3, And set it. Furthermore, a reliable target state determination algorithm can be generated by combining determinations of joint angles.

In step S106, the target state determination algorithm generated as described above is displayed on the display, and the operator determines its validity. If the system cannot generate an accurate judgment algorithm because the tool or work has a complicated shape, or if the judgment algorithm or the allowable range in it is determined by the size and sensitivity of the robot's force sensor noise, etc. When it is determined that the size should be changed, the operator edits the algorithm with an editor.

After modifying the algorithm, in step S107, the robot target trajectory generated in step S103 and the steps S105 and S10.
The target state determination algorithm generated in 6 is combined to generate a program to be downloaded to the robot controller.

In step S108, the generated program is downloaded to the robot controller.

Next, an embodiment of the robot motion analysis apparatus will be described with reference to FIGS. 4 and 5.

FIG. 4 illustrates a procedure for obtaining a set of contact states that can occur during robot operation.

First, in step S201, a robot, a tool attached to the robot, an environment model representing a three-dimensional environment of a workpiece and a robot environment to be processed by the tool, a robot target trajectory generated by an offline teaching system, and Enter the maximum error amount of the shape and position inside the environment model and the maximum error amount of the robot.

When these data are input, the processing in step S202 and subsequent steps is started. That is, the robot target trajectory is divided by the size of the maximum position error amount, and a set of contact states that can occur when a position variation less than the maximum position error amount input at each point occurs is calculated. ,
A method for obtaining the set of contact states will be described.

Here, the geometric model inside the environment model is
It is a polyhedron expression, boundary expression (B-reps) and CSG
It is assumed to be expressed by a combination of. Also CSG
Then, it is assumed that each solid is represented by a combination of sums and differences of convex polyhedra. This is not a special limiting condition in the case of performing solid modeling by a CAD system, since the shape definition is advanced by the set operation of primitives that are convex polyhedrons such as rectangular parallelepipeds and square pyramids.

Obtaining a set of contact states that can occur when a position change occurs means that in the configuration space in which the position / orientation of the robot operating point is a variable, the point around the point corresponding to the target position / orientation is obtained. It is equivalent to considering a region corresponding to the maximum position error amount, and finding a set of contact states that can occur when the position / orientation of the robot operating point becomes at each point inside thereof. However, if this 6-dimensional configuration space is subdivided and contact check is performed at each point to find the contact state, it is assumed that x, y, and z are divided into 10 equal parts, and 10 ⁶ = 1,000,000 interferences. Need a check. Therefore, the number of checks is reduced by utilizing the property of a convex polygon as follows.

First, the interference check is performed at the 64 boundary points which are the vertices of the search area in the 6-dimensional configuration space. The 64 points are the search area (xo-Δx) <x <xo + Δx (yo-Δy) <y <yo + Δy (zo-Δz) <z <zo + Δz (θxo-Δθx ) <Θx <(θxo + Δθx) (θyo-Δθy) <θy <(θyo + Δθy) (θzo-Δθz) <θz <(θzo + Δθz) in the region (xo-Δx, yo-Δ). y, zo-Δz, θxo-Δθ
x, θyo-Δθy, θzo-Δθz) (xo + Δx, yo-Δy, zo-Δz, θxo-Δθ
x, θyo-Δθy, θzo-Δθz) (xo-Δx, yo + Δy, zo-Δz, θxo-Δθ
x, θyo-Δθy, θzo-Δθz). It is to be noted that here, three combinations have been shown as an example, and it goes without saying that there are actually 64 combinations.

The interference check at each boundary point comprises steps S203 and S204 in FIG.

In "determination of point / plane interference between convex polyhedrons in the processing target search area" in step S203, a point pa of the convex polyhedron A forms a convex polyhedron B at all 64 points in the search space. By checking whether the polyhedron is present outside, the collision of the polyhedron vertex and the opponent polyhedron surface is judged as to whether or not there is a point / plane contact between the convex polyhedrons.

Further, in the collision determination between the polyhedron vertex and the partner polyhedron surface, when the points of the convex polyhedrons and the surfaces are in contact with each other, the point pa of the convex polyhedron A is the convex polyhedron at all 64 points in the search space. Not only is it determined whether or not it does not interfere with B, but it is checked whether the point pa of the convex polyhedron A exists outside one of the surfaces forming the convex polyhedron B, and there is no point ← → surface contact. Determine whether or not.

This is because, in the determination of a point / surface contact between convex polyhedrons, there is no interference if the point is located outside even one plane, but the same at all boundary vertices of 64 points in the search space. This is because it is not always located outside one plane.

If all the 64 boundary vertices are located outside one surface, then as a general property, if the point a is located outside the plane fa and the point b is located outside the plane fa as well. For example, the line segment ab connecting the points a and b is guaranteed to be located outside the plane fa. Therefore, the point pa is a point convex polyhedron B on all 64 boundary planes of the search space.
If it is located outside the plane fb, all the positions of pa at the 64 boundary vertices of the search space are located outside the plane fb, and all line segments connecting those 64 points are outside the plane fb. The line segment connecting any point on those line segments to any point on another line segment is also located outside the plane fb, and eventually the line pa moves. All the regions do not contact the outside of the plane fb, that is, the convex polyhedron.

Further, step S204 is composed of contact judgment between the convex polyhedron and the convex polyhedron which is a difference, and contact judgment between the traverse line of the convex polyhedron and the traverse line of the convex polyhedron. In the case of contact between the convex polyhedron and the subtractive convex polyhedron, the point pa of the convex polyhedron A at all 64 points in the search space.
Is located inside all the planes that form the convex polyhedron B that takes the difference, it is guaranteed that the point pa is not in contact with the convex polyhedron B in the entire search area.
Interference checking at points alone is sufficient.

This is because, as a general property, a line segment connecting two points inside the convex polyhedron is included inside the convex polyhedron.
Therefore, if the point pa is located inside the convex polyhedron B at all 64 boundary vertices of the search space, then the positions of the points pa at the 64 boundary vertices of the search space are all located inside the convex polyhedron B. , Any line segment connecting any point on these line segments to any point on another line segment is also located inside the convex polyhedron B, and as a result, the entire area where the point pa moves is a convex polyhedron. It does not contact the inside of B, that is, the convex polyhedron.

Further, in the case of contact between the ridgeline of the convex polyhedron and the ridgeline of the convex polyhedron, at all 64 points in the search space, if there is no interference between the ridgelines, this ridgeline is present in the entire search area. Again, it is sufficient to check at the 64 boundary vertices, since it is guaranteed that there is no contact between them.

The above point ← → surface collision determination, surface ← → point interference determination, and edge line ← → edge interference determination are performed. If there is no interference, it is guaranteed that there is no interference in the entire search area. .. Also, if there is only interference between a certain point and a surface, or if there is interference between one ridgeline, there is interference between another point ← → surface and ridgeline within that area. This contact is the only contact state that can occur inside the search area, since this is guaranteed.

FIG. 5 shows an interference determination procedure using such a theory. The contact between the polyhedra A and B is Therefore, in the interference check, the collision judgment of all points of the polyhedron A and all the surfaces of the polyhedron B, the collision judgment of all the points of the polyhedron B and all the surfaces of the polyhedron A, and the polyhedron It is sufficient to determine the interference between all the ridgelines of A and all the ridgelines of polyhedron B. In addition, all solids are also expressed by the combination of the sum and difference of convex polyhedra, and which convex polyhedron each surface constitutes a polyhedron, especially whether the surface of the sum convex polyhedron or the difference convex polyhedron is It is assumed that it is found in the initial processing and set in the environment model. Basically, the interference check between solids is a combination of the interference checks between the convex polyhedrons that make up each solid.
However, it is not necessary to judge the interference between the convex polyhedrons of the difference.

Here, for example, in the interference determination between the polyhedron A and the polyhedron B, if A and B are expressed as A = convex polyhedron Sa-convex polyhedron Sb B = convex polyhedron Sc-convex polyhedron Sd, respectively. The interference determination of the polyhedra A and B can be performed by the procedure shown in FIG.

First, in step S301, it is determined whether or not all the vertices belonging to the convex polyhedron Sa and the polyhedron B interfere with each other. Step S301 is composed of steps S302 to S304, and the interference with the polyhedron B is first determined by step S3.
In 02, interference determination with all the surfaces belonging to the convex polyhedron Sc is performed. The result of the determination in step S302 is confirmed in step S303, and in the case of interference, the interference determination with the surface belonging to the convex polyhedron Sd is performed in step S304.

Even if a certain vertex belonging to the convex polyhedron Sa interferes with the convex polyhedron Sc, it does not interfere if it is included inside the convex polyhedron Sd. Therefore, only the vertices that interfere with the convex polyhedron Sc and the convex polyhedron Sd interfere with the polyhedron B.

The surface of the contact partner can be obtained as follows by comparing with the state in the center of the search area where the vertex pa does not interfere. At the center of the search area, if the vertex pa belonging to the convex polyhedron Sa is inside the convex polyhedron Sd but is moved to the outside of the surface fd belonging to the convex polyhedron, contact with the surface fd belonging to the convex polyhedron Sd occurs.

Even at the center of the search area, when the vertex pa belonging to the convex polyhedron Sa is outside the convex polyhedron Sd, contact with the surface belonging to the convex polyhedron Sc occurs. The point pa is a convex polyhedron S
When it interferes with the surface belonging to c, it is located inside all the surfaces that form the convex polyhedron Sc, but the point pa is located outside the surface that is the center of the search area in the non-interfering state. At the center of the search area, contact between the surface located outside and the point pa occurs.

Since the vertex of the convex polyhedron Sb and the surface of the polyhedron B do not come into contact with each other, it is not necessary to make a judgment.

Following the above processing in step S301,
In step S305, the interference determination between all the vertices belonging to the convex polyhedron Sc and the polyhedron A is similarly performed.

That is, in step S306, the interference determination between the vertices belonging to the convex polyhedron Sc and all the surfaces belonging to the convex polyhedron Sa is performed. Then, when interference is confirmed in step S307, interference determination is performed in step ST308 between the vertices belonging to the convex polyhedron Sc and all the surfaces belonging to the convex polyhedron Sb.

Since the vertices belonging to the convex polyhedron Sd and the surface of the polyhedron A do not come into contact with each other, it is not necessary to judge the interference of them.

Next, in step S308, all the ridge lines belonging to the convex polyhedron Sa and the ridge lines generated by the intersection of the convex polyhedron Sa and the convex polyhedron Sb and all the ridge lines belonging to the convex polyhedron Sc and the convex polyhedron Sc and the convex polyhedron Sd are formed. The ridgeline caused by the intersection and the collision judgment are described in the Journal of the Robotics Society of Japan, Vol.5, No.4, "Interference check method between convex polyhedrons in consideration of obstacle avoidance motion plan of manipulator". The determination is made by the method of determining the ridge line interference between convex polyhedrons. All the ridge lines belonging to the convex polyhedron Sa and the convex polyhedron Sd
It does not need to be determined because it does not occur due to the intersection with the edge line belonging to. The same applies to the intersection of the ridge line belonging to the convex polyhedron Sc and the ridge line belonging to the convex polyhedron Sb, and the intersection of the ridge line belonging to the convex polyhedron Sb and the ridge line belonging to the convex polyhedron Sd.

By performing the above-mentioned point / face interference check between convex polyhedrons and ridge lines, it is possible to determine the interference between the polyhedra and to determine the interfering (point / face) or (edge, ridge) pair. You can ask. Note that FIG.
4 correspond to step S203 in FIG. 4, and step S303 corresponds to step S203.
It corresponds to 204.

Returning to FIG. 4, as a result of the confirmation in step S205, when two or more different interferences / contacts occur at 64 boundary vertices of the search area, a) a plurality of contact states may occur simultaneously. There is
B) Other interference always occurs first, so it is necessary to determine whether there is interference or contact that does not actually occur, so it is necessary to make more detailed interference determinations inside the search area. It should be noted that although b) may have a positional relationship in which the objects bite each other when performing the interference determination, it corresponds to obtaining interference / contact that does not actually occur because the objects do not bite each other.

Therefore, the contact state inside the search area is searched by the following procedure. 1) The variation area due to the error of x, y, z, θx, θy, θz is divided into 10 equal parts, and the value of 1/10 of the maximum position error is Δx, Δy, Δz, Δθx, Δθy, respectively. , Δθz. Further, the initial value of the distance l from the center of the search area is 1. 2) Distance l from the center of the search area (position at position error 0)
Determine the interference / contact state at the point.

Here, the point at the distance l is x, x at that point.
The maximum difference between the values of y, z, θx, θy, and θz and the value at the center of the search area is l × Δ (Δx or Δy or Δz o
rΔθx or Δθy or Δθz). For example, (x0, y0, z0, θxo, θy
When (o, θzo) is the center of the search area, (x0-2Δ
x, y0 + Δy, z0-Δz, θxo, θyo, θz
o) is a point of distance "2".

3) If there is a point that does not interfere at all among the points at the distance l, the value of l is increased by "1" and the process proceeds to 2). As a result, if there is no point that does not interfere at all, the sum of the interference / contact states at all the points that have been subjected to interference check is calculated.

By the above procedure, it is possible to prevent the contact state that does not actually occur due to the bite of the above b) from being obtained.

By displaying the set of contact states obtained by the above method on the display, the operator can know what kind of contact state can occur. In the work such as assembling work to bring the constraint state of the tool and the work to the target state, it is necessary to set an appropriate compliance constant according to the constraint state. Also, when confirming the determination algorithm of the target contact state, information on what kind of contact may occur is necessary. By checking the set of possible contact states displayed on the display, the operator can confirm whether or not to make unexpected contact, so set the compliance constant and confirm the target state determination algorithm. be able to.

[0065]

As described above, according to the robot offline teaching system of the present invention, whether or not the relative target state between the robot operating point and the work target has been achieved based on the sensor information output from the robot. Since it has a function to create a target state determination program that determines whether or not the robot operating point is controlled until the target state is achieved while confirming the relative relationship between the robot operating point and the work target using sensor information. Therefore, even if the work environment represented by the environment model has a slight difference from the actual work environment, the work can be achieved.

A command for instructing the mutual relationship between the robot operating point and the work object as a target state is used in a work required to set a tool and a work in a certain constraint state such as an assembly work. It is possible to directly specify the target restraint state without converting the state to be set to the position of the tip point of the robot or the position of the tool tip point.

Next, according to the robot motion analysis apparatus of the present invention, what kind of interference occurs with the work when the robot moves around the target trajectory of the robot operation point in an area corresponding to the size of the position error. Therefore, the interference state is checked in detail, as if which part is in contact with the robot operating point and the shape and structure of the work target, etc., depending on the result. be able to. By reflecting the confirmation result on the target position / orientation and the target state of the robot, it is possible to realize a reliable robot operation even if the robot operation point and the shape / structure of the work target are complicated.

[Brief description of drawings]

FIG. 1 is a block diagram showing a schematic configuration of an embodiment of the present invention related to a robot offline teaching system.

FIG. 2 is a flow chart showing a teaching procedure by the system shown in FIG.

FIG. 3 is a perspective view showing an example of a robot, a tool, and a work.

FIG. 4 is a flowchart showing the configuration of an embodiment of the present invention relating to a robot motion analysis apparatus.

5 is an explanatory diagram showing details of an interference determination algorithm shown in FIG.

[Explanation of symbols]

 1 Offline Teaching System 2 User Interface Section 3 Command Interpretation Section 4 Environment Model Operation Section 5 Robot Motion Program Creation Section 6 Target State Judgment Program Creation Section 7 Robot Controller Interface Section 8 Terminal Device 9 Environment Model 10 Robot 11 Block 12 Box 13 Box Force Sensor

Claims (2)

[Claims] 1. An environment model generation unit that generates an environment model that represents a work environment of a robot in three dimensions, a target position / orientation of an operation point of the robot, and a target state in a mutual relationship between the robot operation point and a work target. A command interpreting unit that interprets a command to be instructed, and a target trajectory that the operating point of the robot should take in the work environment represented by the environment model is generated based on the result of the command interpreting unit. A robot operation program creation unit that creates a robot operation program for controlling the robot so as to make a state transition along a target trajectory, and whether or not the target state is achieved based on sensor information output from the robot. And a target state determination program creating section for creating a target state determination program Off-line teaching system. 2. An environment model generation unit that generates environment model information that represents the work environment of the robot in three dimensions, and a target that generates target trajectory information that the operating point of the robot should take within the work environment represented by the environment model. A trajectory generation unit, an error information generation unit that generates error information with respect to a position where the environment model indicates an operating point of the robot and a position where the environment model indicates a work target, and a position error that the target trajectory indicates by the error information. A search area generation unit that sets a 6-dimensional search area having the position and orientation of the robot operation point as a variable around each point, and a plurality of search areas in order. As a processing target, the interference between the operation point of the robot and the work target at all boundary points of the processing target search area is confirmed, and only when a plurality of interferences are recognized, A motion analysis apparatus for a robot, comprising: an interference confirmation processing unit that divides the processing target search region more finely and confirms an interference between the operation point of the robot and the work target at each boundary point thereof.