Comparison between real control and virtual control of robot

A control method, comprising:

• controlling, responsive to a real control signal, a robot to sequentially execute a plurality of tasks included in a manufacturing process for producing a workpiece in a real space;
• controlling, responsive to a virtual control signal, a virtual robot to sequentially execute the plurality of tasks in a virtual space;
• collecting a real execution record from the real space during execution of each of the plurality of tasks by the robot, wherein the real execution record identifies a real execution time length for executing one of the plurality of tasks;
• collecting a virtual execution record from the virtual space during execution of each of the plurality of tasks by the virtual robot, wherein the virtual execution record identifies a virtual execution time length for virtually executing one of the plurality of tasks;
• extracting, from the plurality of tasks, one or more inconsistent tasks for which the real execution record and the virtual execution record are inconsistent with each other by repeating operations that include:
• comparing, on a task-by-task basis, the real execution time length indicated by the real execution record and the virtual execution time length indicated by the virtual execution record for each of the plurality of tasks;
• and
• extracting a task as an inconsistent task, in response to said comparing, if the real execution time length of the task is different than the virtual execution time length of the task;
• extracting a part of the real control signal corresponding to the inconsistent task over a first time period, wherein the extracted part of the real control signal begins at a real execution start time of the inconsistent task;
• extracting a part of the virtual control signal corresponding to the inconsistent task over a second time period, wherein the extracted part of the virtual control signal begins at a virtual execution start time of the inconsistent task;
• and
• displaying the extracted part of the real control signal over the first time period and the extracted part of the virtual control signal over the second time period while aligning the real execution start time and the virtual execution start time along a timeline,
• wherein a difference in signal level between the extracted part of the real control signal and the extracted part of the virtual control signal identifies when a cause of the inconsistent task occurs along the timeline.

A non-transitory memory device having instructions stored thereon that, in response to execution by a processing device, cause the processing device to perform operations comprising:

• collecting, responsive to a real control signal, a real execution record from a real space during sequential execution of a plurality of tasks included in a manufacturing process for producing a workpiece by a robot in the real space, wherein the real execution record identifies a real execution time length for executing one of the plurality of tasks;
• collecting, responsive to a virtual control signal, a virtual execution record from a virtual space during sequential execution of the plurality of tasks by a virtual robot in the virtual space, wherein the virtual execution record identifies a virtual execution time length for virtually executing one of the plurality of tasks;
• extracting, from the plurality of tasks, one or more inconsistent tasks for which the real execution record and the virtual execution record are inconsistent with each other by repeating operations that include:
• comparing, on a task-by-task basis, the real execution time length indicated by the real execution record and the virtual execution time length indicated by the virtual execution record for each of the plurality of tasks;
• and
• extracting a task as an inconsistent task, in response to said comparing, if the real execution time length of the task is different than the virtual execution time length of the task;
• extracting a part of the real control signal corresponding to the inconsistent task over a first time period, wherein the extracted part of the real control signal begins at a real execution start time of the inconsistent task;
• extracting a part of the virtual control signal corresponding to the inconsistent task over a second time period, wherein the extracted part of the virtual control signal begins at a virtual execution start time of the inconsistent task;
• and
• displaying the extracted part of the real control signal over the first time period and the extracted part of the virtual control signal over the second time period while aligning the real execution start time and the virtual execution start time along a timeline,
• wherein a difference in signal level between the extracted part of the real control signal and the extracted part of the virtual control signal identifies when a cause of the inconsistent task occurs along the timeline.