Method of generating robot operation command and robot operation command generation device

A method of generating a robot operation command, the method comprising:

• extracting, with at least one processor operating with a memory device in a computer, a work command from an overall work flow;
• extracting, from a command definition database, a command definition corresponding to the extracted work command with the at least one processor operating with the memory device in the computer;
• generating, by referring to the read work command, a set of unit jobs which are arranged in order, based on the extracted command definition with the at least one processor operating with the memory device in the computer;
• generating a connecting job for causing a robot to be moved from an end position of a previous unit job of two consecutive unit jobs in the set of unit jobs to a start position of a subsequent unit job of the two consecutive unit jobs with the at least one processor operating with the memory device in the computer;
• generating, with the at least one processor operating with the memory device in the computer, a robot operation command in which the previous unit job, the connecting job and the subsequent unit job are continuous;
• generating, with the at least one processor operating with the memory device in the computer, state information representing at least states of a work device and the robot at a start time point and an end time point of the work command, the state information including at least one of whether or not a lid of a microtube is open, what is contained in the microtubes and an amount thereof, where the microtube is stored in a rack or whether the microtube is stored or not in a given position of the rack, and what equipment is held, or not held, in a hand of the robot;
• storing, with the at least one processor operating with the memory device in the computer, the generated connecting job;
• and
• using, with the at least one processor operating with the memory device in the computer, a stored already generated connecting job when, for consecutive work commands, state information at an end time point of a previous work command and at a start time point of a next work command is the same as state information for the stored already generated connecting job;
• and
• controlling a robot based on the robot operation command.