Automatic program-correction device, automatic program-correction method, and automatic path-generation device

A system, comprising:

• a robot;
• a peripheral device;
• and
• an automatic program-correction device for a motion path for the robot around the peripheral device, comprising:
• a processor;
• and
• a memory connected to the processor, wherein the memory stores shape information about the robot and the peripheral device,
• wherein the processor is configured to:
• at each position in the motion path of the robot, detect an amount of clearance between a first point and a second point, wherein the first point is on the motion path and the second point is on the peripheral device,
• detect a near-miss section, wherein the near-miss section encompasses a portion of the motion path where the amount of clearance is less than a predetermined threshold stored in the memory, and
• detect a minimum for the amount of clearance between the first point and the second point at each position in the near-miss section,
• wherein, when the near-miss section is detected, generate a first intermediate teaching point and set the first intermediate teaching point as the first point in the motion path at which the minimum amount of clearance was detected,
• wherein the first intermediate teaching point defines a first amount of clearance between the first intermediate teaching point and the second point in the motion path at which the minimum amount of clearance was detected,
• wherein the first amount of clearance is greater than the minimum amount of clearance,
• wherein the first amount of clearance is equal to or less than the predetermined threshold,
• wherein, when a new near-miss section in a motion path of the robot passing through the first intermediate teaching point is not detected, the processor is configured to select the motion path to cause the robot to pass through the first intermediate teaching point,
• wherein, when a new near-miss section in a motion path of the robot passing through the first intermediate teaching point is detected, the processor is configured to reduce the first amount of clearance to obtain a second intermediate teaching point and set the second intermediate teaching point as the first point in the motion path at which the minimum amount of clearance was detected,
• wherein the second intermediate teaching point defines a second amount of clearance between the second intermediate teaching point and the second point in the motion path at which the minimum amount of clearance was detected,
• wherein the second amount of clearance is less than the first amount of clearance, and
• wherein, when a new near-miss section in a motion path of the robot passing through the second intermediate teaching point is not detected, the processor is configured to select the motion path for the robot to cause the robot to pass through the second intermediate teaching point.

A method, comprising:

• providing a robot;
• providing a peripheral device;
• at each position in the motion path of the robot, detecting an amount of clearance between a first point and a second point, wherein the first point is on the motion path and the second point is on the peripheral device,
• detecting a near-miss section, wherein the near-miss section encompasses a portion of the motion path where the amount of clearance is less than a predetermined threshold stored in the memory,
• detecting a minimum for the amount of clearance between the first point and the second point at each position in the near-miss section,
• wherein, when the near-miss section is detected, generating a first intermediate teaching point and setting the first intermediate teaching point as the first point in the motion path at which the minimum amount of clearance was detected,
• wherein the first intermediate teaching point defines a first amount of clearance between the first intermediate teaching point and the second point in the motion path at which the minimum amount of clearance was detected,
• wherein the first amount of clearance is greater than the minimum amount of clearance,
• wherein the first amount of clearance is equal to or less than the predetermined threshold,
• wherein, when a new near-miss section in a motion path of the robot passing through the first intermediate teaching point is not detected, selecting the motion path to cause the robot to pass through the first intermediate teaching point,
• wherein, when a new near-miss section in a motion path of the robot passing through the first intermediate teaching point is detected, reducing the first amount of clearance to obtain a second intermediate teaching point and setting the second intermediate teaching point as the first point in the motion path at which the minimum amount of clearance was detected,
• wherein the second intermediate teaching point defines a second amount of clearance between the second intermediate teaching point and the second point in the motion path at which the minimum amount of clearance was detected,
• wherein the second amount of clearance is less than the first amount of clearance, and
• wherein, when a new near-miss section in a motion path of the robot passing through the second intermediate teaching point is not detected, selecting the motion path for the robot to cause the robot to pass through the second intermediate teaching point.