Simulation apparatus for working machine
First Claim
1. A simulation apparatus for performing a simulation of an actual system by combining a three-dimensional model of a working machine such as a robot and a machine tool with a three-dimensional model of a peripheral equipment or a workpiece placed on the periphery of said working machine to display the combination of said three-dimensional models in the form of animation on a screen of said simulation apparatus, comprising:
- means for disposing said three-dimensional models on said screen;
means for detecting, through a sensor, each of positions of the actual peripheral equipment or workpiece, which correspond to one or more feature portions of any three-dimensional model disposed on said screen;
means for calculating a relative positional relation between said working machine and said peripheral equipment or workpiece on the basis of each of the detected corresponding positions; and
means for correcting the layout of said models on said screen on the basis of the calculated relative positional relation.
1 Assignment
0 Petitions
Accused Products
Abstract
The layout of a three-dimensional model of a peripheral object (such as a table and a workpiece) is provided on a screen of a simulation apparatus, together with a three-dimensional model of a robot or the like. Point arrays, segments and planes or the like of the models are specified to prepare working point arrays for producing an operation program, thereby providing a simulation of the models in accordance with data of the program. A three-dimensional visual sensor is mounted to a robot to detect the layout of the actual robot, thereby correcting a mismatch, if any, between the layout of the models and that of the actual peripheral object.
35 Citations
6 Claims
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1. A simulation apparatus for performing a simulation of an actual system by combining a three-dimensional model of a working machine such as a robot and a machine tool with a three-dimensional model of a peripheral equipment or a workpiece placed on the periphery of said working machine to display the combination of said three-dimensional models in the form of animation on a screen of said simulation apparatus, comprising:
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means for disposing said three-dimensional models on said screen;
means for detecting, through a sensor, each of positions of the actual peripheral equipment or workpiece, which correspond to one or more feature portions of any three-dimensional model disposed on said screen;
means for calculating a relative positional relation between said working machine and said peripheral equipment or workpiece on the basis of each of the detected corresponding positions; and
means for correcting the layout of said models on said screen on the basis of the calculated relative positional relation. - View Dependent Claims (3, 4, 5, 6)
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2. A simulation apparatus for performing a simulation of an actual system by combining a three-dimensional model of a working machine such as a robot and a machine tool with a three-dimensional model of a peripheral equipment or workpiece placed on the periphery of said working machine to display the combination of said three-dimensional models in the form of animation on a screen of said simulation apparatus, comprising:
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means for disposing said three-dimensional models on said screen;
a sensor mounted to said working machine;
means for moving said working machine to such a position that each of positions of the actual peripheral equipment or workpiece, which correspond to one or more feature portions of any three-dimensional model disposed on said screen, can be captured by said sensor, thereby detecting each of said corresponding positions by said sensor;
means for calculating a relative positional relation between said working machine and said peripheral equipment or workpiece on the basis of each of the detected corresponding positions; and
means for correcting the layout of said three-dimensional models on said screen on the basis of the calculated relative positional relation.
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Specification