LAYOUT SETTING METHOD AND LAYOUT SETTING APPARATUS
First Claim
1. A layout setting method for a robot arm and a peripheral device in a robot workspace, the method comprising:
- a teaching point acquiring step of causing a controlling device to acquire a teaching point which corresponds to a specific operation that the robot arm accesses the peripheral device, and through which the controlling device allows a reference region of the robot arm to pass;
an initial layout generating step of causing the controlling device to generate an initial layout of the robot arm and the peripheral device;
a trajectory generating step of causing the controlling device to generate a trajectory of the robot arm based on the teaching point;
a layout changing step of causing the controlling device to generate a new layout by changing an arrangement of the robot arm or the peripheral device based on the initial layout; and
a layout setting step of causing the controlling device to set an evaluation value concerning fitness for the specific operation in the initial layout or the new layout, and set the initial layout or the new layout based on the set evaluation value.
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Accused Products
Abstract
It becomes possible to optimize setting of a layout of a robot and a peripheral device efficiently and at high speed in a robot workspace. A teaching point acquiring unit acquires a teaching point which corresponds to a specific operation that a robot arm accesses the peripheral device, and through which it allows a reference region of the robot arm to pass. An initial layout generating unit generates an initial layout of the robot arm and the peripheral device. A trajectory generating unit generates a trajectory of the robot arm based on the teaching point. Layout evaluating and layout moving units generate a new layout by changing an arrangement of each device based on the initial layout using a meta-heuristic calculation, set an evaluation value concerning fitness for the specific operation in the initial layout or the new layout, and set the layout based on the set evaluation value.
32 Citations
18 Claims
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1. A layout setting method for a robot arm and a peripheral device in a robot workspace, the method comprising:
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a teaching point acquiring step of causing a controlling device to acquire a teaching point which corresponds to a specific operation that the robot arm accesses the peripheral device, and through which the controlling device allows a reference region of the robot arm to pass; an initial layout generating step of causing the controlling device to generate an initial layout of the robot arm and the peripheral device; a trajectory generating step of causing the controlling device to generate a trajectory of the robot arm based on the teaching point; a layout changing step of causing the controlling device to generate a new layout by changing an arrangement of the robot arm or the peripheral device based on the initial layout; and a layout setting step of causing the controlling device to set an evaluation value concerning fitness for the specific operation in the initial layout or the new layout, and set the initial layout or the new layout based on the set evaluation value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A control program for causing a controlling device to perform each step of a layout setting method for a robot arm and a peripheral device in a robot workspace, the method comprising:
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a teaching point acquiring step of causing the controlling device to acquire a teaching point which corresponds to a specific operation that the robot arm accesses the peripheral device, and through which the controlling device allows a reference region of the robot arm to pass; an initial layout generating step of causing the controlling device to generate an initial layout of the robot arm and the peripheral device; a trajectory generating step of causing the controlling device to generate a trajectory of the robot arm based on the teaching point; a layout changing step of causing the controlling device to generate a new layout by changing an arrangement of the robot arm or the peripheral device based on the initial layout; and a layout setting step of causing the controlling device to set an evaluation value concerning fitness for the specific operation in the initial layout or the new layout, and set the initial layout or the new layout based on the set evaluation value.
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12. A non-transitory computer-readable storage medium of storing a control program for causing a controlling device to perform each step of a layout setting method for a robot arm and a peripheral device in a robot workspace, the method comprising:
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a teaching point acquiring step of causing the controlling device to acquire a teaching point which corresponds to a specific operation that the robot arm accesses the peripheral device, and through which the controlling device allows a reference region of the robot arm to pass; an initial layout generating step of causing the controlling device to generate an initial layout of the robot arm and the peripheral device; a trajectory generating step of causing the controlling device to generate a trajectory of the robot arm based on the teaching point; a layout changing step of causing the controlling device to generate a new layout by changing an arrangement of the robot arm or the peripheral device based on the initial layout; and a layout setting step of causing the controlling device to set an evaluation value concerning fitness for the specific operation in the initial layout or the new layout, and set the initial layout or the new layout based on the set evaluation value.
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13. A layout setting apparatus comprising a 3D (three-dimensional) outputting device, wherein
on the basis of 3D data of a robot arm, a peripheral device and a robot workspace in a layout setting method for the robot arm and the peripheral device in the robot workspace, the method comprising a teaching point acquiring step of causing a controlling device to acquire a teaching point which corresponds to a specific operation that the robot arm accesses the peripheral device, and through which the controlling device allows a reference region of the robot arm to pass; - an initial layout generating step of causing the controlling device to generate an initial layout of the robot arm and the peripheral device;
a trajectory generating step of causing the controlling device to generate a trajectory of the robot arm based on the teaching point;
a layout changing step of causing the controlling device to generate a new layout by changing an arrangement of the robot arm or the peripheral device based on the initial layout; and
a layout setting step of causing the controlling device to set an evaluation value concerning fitness for the specific operation in the initial layout or the new layout, and set the initial layout or the new layout based on the set evaluation value;
the 3D outputting device is configured to three-dimensionally output an arrangement configuration of the robot arm and the peripheral device in the robot workspace in the initial layout or the new layout. - View Dependent Claims (14, 15)
- an initial layout generating step of causing the controlling device to generate an initial layout of the robot arm and the peripheral device;
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16. A part manufacturing method of manufacturing a part by a robot arm arranged using a layout setting method for the robot arm and a peripheral device in a robot workspace, the method comprising:
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a teaching point acquiring step of causing a controlling device to acquire a teaching point which corresponds to a specific operation that the robot arm accesses the peripheral device, and through which the controlling device allows a reference region of the robot arm to pass; an initial layout generating step of causing the controlling device to generate an initial layout of the robot arm and the peripheral device; a trajectory generating step of causing the controlling device to generate a trajectory of the robot arm based on the teaching point; a layout changing step of causing the controlling device to generate a new layout by changing an arrangement of the robot arm or the peripheral device based on the initial layout; and a layout setting step of causing the controlling device to set an evaluation value concerning fitness for the specific operation in the initial layout or the new layout, and set the initial layout or the new layout based on the set evaluation value.
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17. A robot system comprising a robot arm arranged using a layout setting method for the robot arm and a peripheral device in a robot workspace, the method comprising:
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a teaching point acquiring step of causing a controlling device to acquire a teaching point which corresponds to a specific operation that the robot arm accesses the peripheral device, and through which the controlling device allows a reference region of the robot arm to pass; an initial layout generating step of causing the controlling device to generate an initial layout of the robot arm and the peripheral device; a trajectory generating step of causing the controlling device to generate a trajectory of the robot arm based on the teaching point; a layout changing step of causing the controlling device to generate a new layout by changing an arrangement of the robot arm or the peripheral device based on the initial layout; and a layout setting step of causing the controlling device to set an evaluation value concerning fitness for the specific operation in the initial layout or the new layout, and set the initial layout or the new layout based on the set evaluation value.
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18. A robot controlling apparatus which performs a layout setting method for a robot arm and a peripheral device in a robot workspace, the method comprising:
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a teaching point acquiring step of causing a controlling device to acquire a teaching point which corresponds to a specific operation that the robot arm accesses the peripheral device, and through which the controlling device allows a reference region of the robot arm to pass; an initial layout generating step of causing the controlling device to generate an initial layout of the robot arm and the peripheral device; a trajectory generating step of causing the controlling device to generate a trajectory of the robot arm based on the teaching point; a layout changing step of causing the controlling device to generate a new layout by changing an arrangement of the robot arm or the peripheral device based on the initial layout; and a layout setting step of causing the controlling device to set an evaluation value concerning fitness for the specific operation in the initial layout or the new layout, and set the initial layout or the new layout based on the set evaluation value.
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Specification