Robot trajectory generation method, robot trajectory generation apparatus, product fabrication method, recording medium, program, and robot system

A product fabrication method for fabricating a product by operating the plurality of robot arms which are closely installed, by a control device, the product fabrication method comprising:

• generating an operation instruction list which stores trajectory definition data including starting points and ending points of the trajectories of the plurality of robot arms to be generated;
• determining a trajectory generation order of trajectory generation in accordance with the plurality of trajectory definition data included in the generated operation instruction list;
• generating a first trajectory for operating a first robot arm such that the first trajectory avoids obstacle spaces registered in an obstacle memory in accordance with the trajectory definition data associated with the first robot arm included in the operation instruction list based on the determined trajectory generation order;
• registering a sweeping space, in which a structure of the first robot arm sweeps, in the obstacle memory as an obstacle space to be avoided by the robot arm other than the first robot arm;
• generating a second trajectory for operating a second robot arm such that the second trajectory avoids the obstacle spaces registered in the obstacle memory, including an additionally registered obstacle space that is the sweeping space to be swept by the structure of the first robot arm, based on the trajectory definition data regarding the second robot arm, the trajectory of which is to be generated next after generating the first trajectory of the first robot arm as determined in the trajectory generation order;
• and
• controlling the operation of the plurality of robot arms for fabricating the product based on the generated trajectories.

A robot trajectory generation apparatus which generates trajectories for operating a plurality of robot arms which are closely installed, by a control device, the robot trajectory generation apparatus comprising:

• an obstacle memory to which obstacle spaces which do not allow structures of the robot arms to pass are registered when the trajectories are generated,
• wherein the control device
• generates an operation instruction list which stores trajectory definition data including starting points and ending points of the trajectories of the plurality of robot arms to be generated,
• determines a trajectory generation order of trajectory generation in accordance with the plurality of trajectory definition data included in the generated operation instruction list,
• generates a first trajectory for operating a first robot arm such that the first trajectory avoids obstacle spaces registered in the obstacle memory in accordance with the trajectory definition data included in the operation instruction list based on the determined trajectory generation order,
• registers a sweeping space in which a structure of the first robot arm sweeps in the obstacle memory as an obstacle space to be avoided by the robot arm other than the first robot arm, and
• generates a second trajectory for operating a second robot arm such that the second trajectory avoids the obstacle spaces registered in the obstacle memory, including an additionally registered obstacle space that is the sweeping space to be swept by the structure of the first robot arm, based on the trajectory definition data regarding the second robot arm, the trajectory of which is to be generated next after generating the first trajectory of the first robot arm as determined in the trajectory generation order.