Robot off-line simulation apparatus
First Claim
1. A robot off-line simulation apparatus for simulating an operation of a robot placed with a workpiece and a peripheral device in a three-dimensional space by simultaneously displaying three-dimensional models of the robot, the workpiece and the peripheral device on a screen, comprising:
- means for determining discrete positions at which a base of the robot is to be placed, the robot with the base placed at each of the discrete positions being reachable to a preset sequence of task points for performing tasks on the workpiece;
means for obtaining an index representing an operation margin of the robot when the robot with the base placed at each of the discrete positions reaches the sequence of task points; and
means for displaying the discrete positions and the obtained indices for the respective discrete positions on the screen.
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Accused Products
Abstract
A robot off-line simulation apparatus that allows a person to know an optimum placement for a robot, an operation margin index, etc. before going to an actual working site. Provisional robot placing positions are selected using data about a given sequence of task points (operation path), etc. The conditions for selection are (i) that solution to the inverse kinematics should be found regarding the entire sequence of task points, (ii) that the robot should not interfere with a peripheral device, and (iii) that regarding all the axes of the robot, the operation margin index should satisfy a criterion value. Simulation is performed according to operation programs under the condition that the robot is placed at each of the provisional placing positions, where data about cycle time, duty, energy value, change in acceleration/speed, etc. is collected. Using the collected data, evaluation of operation is performed regarding each of the provisional placing positions, and those provisional placing positions which allow good operation are identified as placing positions ensuring the robot operation. Further, using an evaluation function in which each aspect is given a weighting, the placing positions ensuring the robot operation are reduced to optimum placing positions ensuring the robot operation.
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Citations
16 Claims
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1. A robot off-line simulation apparatus for simulating an operation of a robot placed with a workpiece and a peripheral device in a three-dimensional space by simultaneously displaying three-dimensional models of the robot, the workpiece and the peripheral device on a screen, comprising:
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means for determining discrete positions at which a base of the robot is to be placed, the robot with the base placed at each of the discrete positions being reachable to a preset sequence of task points for performing tasks on the workpiece;
means for obtaining an index representing an operation margin of the robot when the robot with the base placed at each of the discrete positions reaches the sequence of task points; and
means for displaying the discrete positions and the obtained indices for the respective discrete positions on the screen. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A robot off-line simulation apparatus for simulating an operation of a robot placed with a workpiece and a peripheral device in a three-dimensional space by simultaneously displaying three-dimensional models of the robot, the workpiece and the peripheral device on a screen, comprising:
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means for determining discrete positions at which a base of the robot is to be placed, the robot with the base placed at each of the discrete positions being reachable to a preset operation path of the robot for performing tasks on the workpiece;
means for obtaining an index representing an operation margin of the robot when the robot with the base placed at each of the discrete positions reaches the operation path; and
means for displaying the discrete positions and the obtained indices for the respective discrete positions on the screen. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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Specification