Offline teaching device and motion-program generation method
AssigneeFanuc Corporation
InventorAtsushi Nobuhara
Life of this patent
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Abstract
An offline teaching device for reducing an amount of time required to generate a motion route with which interference could be avoided, the offline teaching device including at least one processor. The processor generates, as a result of a motion program that includes a plurality of teaching points being input, numerous interpolation points on a motion route of a tool distal-end point of a robot, the motion route being formed among the teaching points in accordance with the motion program; and detects whether interference occurs between each of the generated interpolation points and a peripheral device.
Claims5
An offline teaching device comprising:
- at least one processor;
- and
- a memory storing a model of a robot and a model of a peripheral device that are disposed in a same virtual space, wherein
- the processor is configured to:
- receive information including a plurality of teaching points input by a user,
- generate a motion program based on the received information,
- generate numerous interpolation points automatically on a motion route of a tool distal-end point of the robot, the motion route formed among the teaching points in accordance with the generated motion program;
- calculate coordinates of one or more joint points of the robot when the tool distal-end point thereof is disposed at each of the generated interpolation points to determine a line segment connecting a joint point and either the adjacent joint point or the adjacent tool tip, and
- detect whether interference occurs between each of the generated interpolation points and the determined line segment and the peripheral device.
A method for generating a motion program based on a model of a robot and a model of a peripheral device that are stored in a memory and are disposed in a same virtual space, the method comprising:
- receiving, by at least one processor, information including a plurality of teaching points input by a user;
- generating, by the at least one processor, a basic motion program based on the received information;
- generating numerous interpolation points automatically on a motion route of a tool distal-end point of the robot, the motion route being formed among the teaching points in accordance with the generated basic motion program;
- calculating coordinates of one or more joint points of the robot when the tool distal-end point thereof is disposed at each of the generated interpolation points to determine a line segment connecting a joint point and either the adjacent joint point or the adjacent tool tip, and
- detecting whether interference occurs between each of the generated interpolation points and the determined line segment and the peripheral device.
An offline teaching device comprising:
- at least one processor;
- and
- a memory storing a model of a robot and a model of a peripheral device that are disposed in a same virtual space, wherein
- the processor is configured to:
- receive information including a plurality of teaching points input by a user,
- generate a motion program based on the received information,
- generate numerous interpolation points automatically on a motion route of a tool distal-end point of the robot, the motion route formed among the teaching points in accordance with the generated motion program;
- calculate three-dimensional coordinates of one or more joint points of the robot when the tool distal-end point thereof is disposed at each of the generated interpolation points, and
- detect whether interference occurs between each of the generated interpolation points and the calculated joint points and the peripheral device.
Dependencies are inferred from the claim text.