Robot control in working space

A robot control method executable by a robot system including at least one processor, the method comprising:

• storing a predefined work requirement that indicates a processing target region of a workpiece to be processed by a robot, wherein the processing target region is a linear region along which the robot gives a physical change to the workpiece, wherein the linear region is defined on the workpiece, and wherein the processing target region includes an approach point at which the robot approaches the workpiece;
• recognizing a work environment of a working space in which the workpiece is placed, wherein the work environment includes a position and a posture of the workpiece placed in the working space;
• identifying the processing target region of the workpiece placed in the working space, based on the position and posture of the workpiece placed in the working space;
• identifying the approach point of the workpiece placed in the working space, based on the work requirement and the work environment;
• generating, in real-time, a work path of the robot to give the physical change to the workpiece along the linear region of the workpiece, based on the work requirement and the identified processing target region;
• generating an air-cut path for moving the robot to the workpiece, based on a position of the identified approach point;
• and
• controlling the robot based on the generated work path and the generated air-cut path to cause the robot to move to the workpiece along the air-cut path and give the physical change to the workpiece along the work path,
• wherein the predefined work requirement is obtained from a past operation of the robot in a past process of the robot, wherein the robot has actually processed a past workpiece based on a plurality of teaching points in the past process,
• wherein the plurality of teaching points are obtained by past simulation,
• wherein the method further comprises generating the work path and the air-cut path as a new path based on the position and the posture of the workpiece in the working space, without including the plurality of teaching points in the new path, and
• wherein the method further comprises generating the work path along the identified processing target region, without correcting and using the plurality of teaching points.

A non-transitory computer-readable storage medium storing processor-executable instructions to:

• retrieve a predefined work requirement that indicates a processing target region of a workpiece to be processed by a robot, from a storage device, wherein the processing target region is a linear region along which the robot gives a physical change to the workpiece, wherein the linear region is defined on the workpiece, and wherein the processing target region includes an approach point at which the robot approaches the workpiece;
• recognize a work environment of a working space in which the workpiece is placed, wherein the work environment includes a position and a posture of the workpiece placed in the working space;
• identify the processing target region of the workpiece placed in the working space, based on the position and posture of the workpiece placed in the working space;
• identify the approach point of the workpiece placed in the working space, based on the work requirement and the work environment;
• generate, in real-time, a work path of the robot to give the physical change to the workpiece along the linear region of the workpiece, based on the work requirement and the identified processing target region;
• generate an air-cut path for moving the robot to the workpiece, based on a position of the identified approach point;
• and
• control the robot based on the generated work path and the generated air-cut path to cause the robot to move to the workpiece along the air-cut path and give the physical change to the workpiece along the work path,
• wherein the predefined work requirement is obtained from a past operation of the robot in a past process of the robot, wherein the robot has actually processed a past workpiece based on a plurality of teaching points in the past process,
• wherein the plurality of teaching points are obtained by past simulation,
• wherein the storage medium further stores a processor-executable instruction to generate the work path and the air-cut path as a new path based on the position and the posture of the workpiece in the working space, without including the plurality of teaching points in the new path, and
• wherein the storage medium further stores a processor-executable instruction to generate the work path along the identified processing target region, without correcting and using the plurality of teaching points.