Device for determining interference region of robot
First Claim
1. A device for determining an interference region of a robot, comprising:
- storage means storing a geometric model of a robot arm;
position/posture calculation means for successively calculating position/posture of the robot arm in accordance with a motion command read from an operation program of the robot;
occupied region-calculating means for calculating a region occupied by the robot arm when the robot arm takes the position/posture in accordance with the motion command based on the calculated position/posture and the geometric model of the robot arm;
means for obtaining and updating a total occupied region of the robot arm by successively and aggregately adding the calculated occupied regions of the robot arm and store the updated total occupied region; and
displaying means for displaying the updated total occupied region on a display screen.
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Accused Products
Abstract
A device for determining an interference region of a robot, capable of determining an interference region/non-interference region and the like on an off-line layout space without difficulty. Geometric data of a robot and peripheral objects is read from a CAD system or the like to be displayed in the form of a layout display, to thereby form a cage region. An initial occupied region is found by calculating a three-dimensional position of each arm at an initial position. An operation simulation is run, and the tree-dimensional positions are repeatedly calculated, thereby finding the aggregate sum of the occupied region. After the robot is moved, a total occupied region G, an overlapping region H, a protruding region K, a non-occupied region M and the like are displayed in different colors, to thereby perform layout correction of a peripheral object, a change of the cage region, etc. It is also possible to judge the presence or absence of the overlapping region H/protruding region K and to search “a hidden non-occupied region” by way of a sectional display in which points A, B and C are designated.
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Citations
10 Claims
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1. A device for determining an interference region of a robot, comprising:
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storage means storing a geometric model of a robot arm;
position/posture calculation means for successively calculating position/posture of the robot arm in accordance with a motion command read from an operation program of the robot;
occupied region-calculating means for calculating a region occupied by the robot arm when the robot arm takes the position/posture in accordance with the motion command based on the calculated position/posture and the geometric model of the robot arm;
means for obtaining and updating a total occupied region of the robot arm by successively and aggregately adding the calculated occupied regions of the robot arm and store the updated total occupied region; and
displaying means for displaying the updated total occupied region on a display screen. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A device for determining an interference region of a robot, comprising:
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storage means storing geometric models of a robot arm and an end effector mounted on the robot arm;
position/posture calculation means for successively calculating position/posture of the robot arm and the end effector in accordance with a motion command read from an operation program of the robot;
occupied region-calculating means for calculating a region occupied by the robot arm and the end effector when the robot arm and the end effector take the position/posture in accordance with the motion command based on the calculated position/posture and the geometric model of the robot arm and the end effector;
means for obtaining and updating a total occupied region of the robot arm and the end effector by successively and aggregately adding the calculated occupied regions of the robot arm and the end effector and store the updated total occupied region; and
displaying means for displaying the updated total occupied region on a display screen.
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Specification