Device for outputting holding detection results

A device for outputting holding detection results comprising a processor configured with a program to perform operations comprising:

• operation as a workpiece storage unit for storing retrieval information and workpiece information in association with each other for each workpiece;
• operation as a first storage unit for storing plural pieces of holding member information related to a holding member for the workpiece installed in a robot;
• operation as an input unit for accepting input of the retrieval information of any of workpieces;
• operation as an acquisition unit for searching the workpiece storage unit using the input retrieval information of the workpiece as a key to acquire workpiece information corresponding to the input workpiece;
• operation as a first selection unit for simulating whether the workpiece can be held by the holding member or not based on the acquired workpiece information, and selecting, as a holding member candidate, the holding member determined to be able to hold the workpiece as a result of the simulation;
• operation as a determination unit configured to determine whether the holding member candidate is capable of holding the workpiece when the robot moves according to a motion control program;
• operation as a motion parameter editing unit configured to edit parameters of the motion control program, in response to the determination unit determining that the holding member candidate is not capable of holding the workpiece when the robot moves according to the motion control program;
• and
• operation as an output unit for outputting the holding member information of the holding member candidate selected by the first selection unit, wherein
• the processor is configured with the program to perform operations:
• such that operation as the input unit comprises accepting a vibration tolerance value of the workpiece, and
• further comprising operation as a display unit for displaying a state where the workpiece vibrates according to the vibration tolerance value of the workpiece.

A device for outputting holding detection results comprising a processor configured with a program to perform operations comprising:

• operation as a first input unit for accepting workpiece information including outline information and mass information of a workpiece;
• operation as a second input unit for accepting input of an operating speed or operating acceleration of a robot;
• operation as a third input unit for accepting input of holding member information related to a holding member for the workpiece installed in the robot;
• operation as an output unit for simulating whether the workpiece can be held by the holding member or not based on the workpiece information accepted at the first input unit, the operating speed or the operating acceleration of the robot accepted at the second input unit, and the holding member information related to the holding member for the workpiece accepted at the third input unit, and outputting simulation results,
• operation as a determination unit configured to determine, based on the simulation results, whether the holding member is capable of holding the workpiece when the robot moves according to a motion control program;
• operation as a motion parameter editing unit configured to edit parameters of the motion control program, in response to the determination unit determining that the holding member is not capable of holding the workpiece when the robot moves according to the motion control program;
• wherein
• the processor is configured with the program to perform operations:
• such that operation as the first input unit comprises accepting a vibration tolerance value of the workpiece, and
• further comprising operation as a display unit for displaying a state where the workpiece vibrates according to the vibration tolerance value of the workpiece.