ROBOT SIMULATION APPARATUS

• US 20080301072A1
• Filed: 05/27/2008
• Published: 12/04/2008
• Est. Priority Date: 05/31/2007
• Status: Abandoned Application

• Current Assignee: Fanuc Ltd (Fanuc Corporation)
• Original Assignee: Fanuc Ltd (Fanuc Corporation)
• Inventors: Nagatsuka, Yoshiharu, Oumi, Tatsuya
• Application Number:
  US12/127,400
• Publication Number:
  US 20080301072A1
• Time in Patent Office: Days
• US Class Current: 706/12
• CPC Class Codes: B25J 9/1669 characterised by special application, e.g. multi-arm co-operation, assembly, grasping
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
• CPC Class Codes: G05B 2219/39484 Locate, reach and grasp, visual guided grasping
• CPC Class Codes: G05B 2219/39543 Recognize object and plan hand shapes in grasping movements
• CPC Class Codes: G05B 2219/40308 Machine, conveyor model in library contains coop robot path
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

A robot simulation apparatus including: a display section which displays models of at least a conveyance apparatus, an object, and a robot respectively laid out at predetermined positions; a movement condition designating section which designates a direction and a speed of movement of the object; a imaging condition designating section which designates a relative position of the camera with respect to the object and imaging condition in order to obtain a still image of the object located within an imaging area; a teaching model storage section which stores a teaching model of the object to be compared with the still image obtained with the camera; a grasping position calculating section which calculates a grasping position of the object to be grasped by the robot based on a position and an attitude of the object obtained by comparing the still image with the teaching model, and on the direction and the speed of movement of the object; and a teaching position setting section which sets a teaching position for said robot based on the grasping position.

Claims

1. A robot simulation apparatus which performs, by an image-processing of image data captured with a camera, an off-line simulation of an operation of a robot that tracks an object being conveyed by a conveyance apparatus, and grasps said object at a predetermined position, comprising:

a display section which displays models of at least said conveyance apparatus, said object, and said robot respectively laid out at predetermined positions;

a movement condition designating section which designates a direction and a speed of movement of said object;

an imaging condition designating section which designates a relative position of said camera with respect to said object and imaging conditions in order to obtain a still image of said object located within an imaging area;

a teaching model storage section which stores a teaching model of said object to be compared with said still image obtained with said camera;

a grasping position calculating section which calculates a grasping position of said object to be grasped by said robot based on a position and an attitude of said object obtained by comparing said still image with said teaching model, and on said direction and said speed of movement of said object; and

,

a teaching position setting section which sets a teaching position for said robot based on said grasping position.

2. A robot simulation apparatus according to claim 1,

further comprising an alarm generating section which generates an alarm informing an anomaly of said robot when said robot cannot grasp said object at said grasping position calculated by said grasping position calculating section.

3. A robot simulation apparatus according to claim 1,

further comprising a shape model designating section which designates a shape model for said object.

4. A robot simulation apparatus according to claim 3,

wherein a plurality of shape models can be designated for said object having different shapes, and

wherein a plurality of said objects are supplied in a predetermined order to said conveyance apparatus.

5. A robot simulation apparatus according to claim 1,

further comprising a supply interval designating section which designates a supply interval for multiplicity of objects supplied onto said conveyance apparatus,

wherein said conveyance apparatus comprises a belt conveyor.

6. A robot simulation apparatus according to claim 5,

wherein said supply interval designated by said supply interval designating section for the plurality of said objects, is a regular interval or an irregular interval.

7. A robot simulation apparatus according to claim 1,

further comprising a destination designating section which designates a destination of movement for said grasped object, and

wherein said simulation apparatus simulates the operation of the robot of moving said object to said destination.

8. A robot simulation apparatus according to claim 2,

further comprising a shape model designating section which designates a shape model for said object.

9. A robot simulation apparatus according to claim 8,

wherein a plurality of shape models can be designated for said object having different shapes, and

wherein a plurality of said objects are supplied in a predetermined order to said conveyance apparatus.