ROBOT CONTROL APPARATUS AND METHOD FOR CONTROLLING ROBOT

• US 20150045949A1
• Filed: 08/06/2014
• Published: 02/12/2015
• Est. Priority Date: 08/09/2013
• Status: Abandoned Application

• Current Assignee: Kabushiki Kaisha Yaskawa Denki
• Original Assignee: Kabushiki Kaisha Yaskawa Denki
• Inventors: HASHIGUCHI, Yukio, MURAI, Shinji, SHlRAKI, Tomoyuki
• Application Number:
  US14/453,579
• Publication Number:
  US 20150045949A1
• Time in Patent Office: Days
• US Class Current: 700/253
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: G06F 30/00 Computer-aided design [CAD]

Abstract

A robot control apparatus includes a first storage section to associate information of work performed by a robot with a work program indicating content of the work, and to store the information in association with the work program. A second storage section associates robot identification information for identifying the robot with a coordinate position of the robot, and stores the robot identification information in association with the coordinate position of the robot. A display control section controls a display section to display, in order, setting windows respectively corresponding to work steps of the work. In response to an operator selecting the work, a path preparation section prepares a movement path of the robot in the work based on the work program corresponding to the work selected by the operator and based on information of the coordinate position of the robot to perform the work.

Claims

1. A robot control apparatus comprising:

a first storage section configured to associate information of work performed by a robot with a work program indicating content of the work, and configured to store the information in association with the work program;

a second storage section configured to associate robot identification information for identifying the robot with a coordinate position of the robot, and configured to store the robot identification information in association with the coordinate position of the robot;

a display control section configured to control a display section to display, in order, setting windows respectively corresponding to work steps of the work; and

a path preparation section configured to, in response to an operator selecting the work, prepare a movement path of the robot in the work based on the work program corresponding to the work selected by the operator and based on information of the coordinate position of the robot to perform the work.

2. The robot control apparatus according to claim 1, wherein the display control section is configured to contain in the setting windows a log of preparation of the movement path corresponding to the work selected by the operator.

3. The robot control apparatus according to claim 1, wherein the display control section is configured to contain in the setting windows a selection window for the operator to select a work step among the work steps of the work.

4. The robot control apparatus according to claim 1, wherein the path preparation section is configured to prepare a movement path of the robot between two successive work steps among the work steps in an order of a production procedure.

5. The robot control apparatus according to claim 1, further comprising:

a determination section configured to determine, in each of the work steps in which the robot starts a movement at a start point and reaches a destination point through the movement, whether the start point and the destination point are within a predetermined range from a calculated start point and a calculated destination point that are based on the coordinate position of the robot; and

a position adjustment section configured to adjust the coordinate position of the robot when at least one of the start point and the destination point is not within the predetermined range.

6. The robot control apparatus according to claim 5,

wherein in each of the work steps, the determination section is configured to determine whether the robot interferes with an object due to the movement corresponding to the work step, and

wherein the position adjustment section is configured to adjust the coordinate position of the robot when the robot interferes with the object.

7. The robot control apparatus according to claim 6, wherein when at least one of the start point and the destination point is not within the predetermined range, the display control section is configured to control the display section to display a portion of the robot that is outside the predetermined range, or when the robot interferes with the object, the display control section is configured to control the display section to display a portion of the robot that is interfering with the object, so as to enable the operator to visually confirm the portion of the robot that is outside the predetermined range or interfering with the object.

8. The robot control apparatus according to claim 1, wherein the display control section is configured to contain in the setting windows a model image of the robot and a work stand depending on each of the work steps.

11. The robot control apparatus according to claim 2, wherein the display control section is configured to contain in the setting windows a selection window for the operator to select a work step among the work steps of the work.

12. The robot control apparatus according to claim 2, wherein the path preparation section is configured to prepare a movement path of the robot between two successive work steps among the work steps in an order of a production procedure.

13. The robot control apparatus according to claim 3, wherein the path preparation section is configured to prepare a movement path of the robot between two successive work steps among the work steps in an order of a production procedure.

14. The robot control apparatus according to claim 11, wherein the path preparation section is configured to prepare a movement path of the robot between two successive work steps among the work steps in an order of a production procedure.

15. The robot control apparatus according to claim 2, further comprising:

a determination section configured to determine, in each of the work steps in which the robot starts a movement at a start point and reaches a destination point through the movement, whether the start point and the destination point are within a predetermined range from a calculated start point and a calculated destination point that are based on the coordinate position of the robot; and

a position adjustment section configured to adjust the coordinate position of the robot when at least one of the start point and the destination point is not within the predetermined range.

16. The robot control apparatus according to claim 3, further comprising:

a determination section configured to determine, in each of the work steps in which the robot starts a movement at a start point and reaches a destination point through the movement, whether the start point and the destination point are within a predetermined range from a calculated start point and a calculated destination point that are based on the coordinate position of the robot; and

a position adjustment section configured to adjust the coordinate position of the robot when at least one of the start point and the destination point is not within the predetermined range.

17. The robot control apparatus according to claim 4, further comprising:

a determination section configured to determine, in each of the work steps in which the robot starts a movement at a start point and reaches a destination point through the movement, whether the start point and the destination point are within a predetermined range from a calculated start point and a calculated destination point that are based on the coordinate position of the robot; and

a position adjustment section configured to adjust the coordinate position of the robot when at least one of the start point and the destination point is not within the predetermined range.

18. The robot control apparatus according to claim 11, further comprising:

a determination section configured to determine, in each of the work steps in which the robot starts a movement at a start point and reaches a destination point through the movement, whether the start point and the destination point are within a predetermined range from a calculated start point and a calculated destination point that are based on the coordinate position of the robot; and

a position adjustment section configured to adjust the coordinate position of the robot when at least one of the start point and the destination point is not within the predetermined range.

19. The robot control apparatus according to claim 12, further comprising:

a determination section configured to determine, in each of the work steps in which the robot starts a movement at a start point and reaches a destination point through the movement, whether the start point and the destination point are within a predetermined range from a calculated start point and a calculated destination point that are based on the coordinate position of the robot; and

a position adjustment section configured to adjust the coordinate position of the robot when at least one of the start point and the destination point is not within the predetermined range.

20. The robot control apparatus according to claim 13, further comprising:

a determination section configured to determine, in each of the work steps in which the robot starts a movement at a start point and reaches a destination point through the movement, whether the start point and the destination point are within a predetermined range from a calculated start point and a calculated destination point that are based on the coordinate position of the robot; and

a position adjustment section configured to adjust the coordinate position of the robot when at least one of the start point and the destination point is not within the predetermined range.

9. A method for controlling a robot, the method comprising:

in response to an operator selecting work performed by a robot, acquiring from a first storage section a work program corresponding to the work selected by the operator, the work program indicating content of the work, the first storage section storing the work program in association with information of the work;

acquiring, from a second storage section, information of a coordinate position of the robot to perform the work, the second storage section storing the coordinate position of the robot in association with robot identification information for identifying the robot;

displaying, in order, setting windows respectively corresponding to work steps of the work; and

preparing a movement path of the robot in the work based on the acquired work program and based on the acquired information of the coordinate position of the robot.

10. The method for controlling a robot according to claim 9, further comprising:

determining, in each of the work steps in which the robot starts a movement at a start point and reaches a destination point through the movement, whether the start point and the destination point are within a predetermined range from a calculated start point and a calculated destination point that are based on the coordinate position of the robot; and

adjusting the coordinate position of the robot when at least one of the start point and the destination point is not within the predetermined range.