Method of evaluating and correcting robot program and device for evaluating and correcting robot program
AssigneeFanuc Corporation
InventorsYoshiharu NAGATSUKA, Toshiya TAKEDA
Life of this patent
Estimating the term…
Abstract
There is provided a device for evaluating and correcting a robot operation program for evaluating an appropriateness for the robot operation program and correcting the robot operation program, comprising a computer including a simulation function for confirming a robot operation. The computer includes a load calculation section for calculating a load given to a motor for driving an operating portion of the robot by a simulation conducted by a computer; and an evaluation section for evaluating, by an evaluation function, whether or not the load exceeds a predetermined allowed value.
Claims9
A method of evaluating an appropriateness of a robot operation program and correcting the robot operation program, said method comprising:
- for a speed command and an acceleration command to be given to a motor for driving an operating portion of the robot, performing a simulation by a computer to calculate a load of the motor;
- evaluating whether or not the load exceeds a predetermined allowed value;
- and
- based on a result of said evaluating, repeatedly correcting the speed command and the acceleration command and executing said simulation to minimize a cycle time of the robot and to obtain the calculated load in a range lower than the predetermined allowed value.
2-3. (canceled)
A device for evaluating an appropriateness of a robot operation program and correcting the robot operation program, said device comprising a computer including a simulation function for confirming a robot operation,
- the computer comprising:
- a load calculation section for performing a simulation to calculate, for a speed command and an acceleration command to be given to a motor for driving an operating portion of the robot, the load of the motor;
- an evaluation section for evaluating whether or not the load exceeds a predetermined allowed value;
- and
- a correction section for correcting the speed command and the acceleration command based on a result outputted by said evaluation section;
- wherein the computer is configured for repeatedly correcting the speed command and the acceleration command and executing said simulation to minimize a cycle time of the robot and to obtain the calculated load in a range lower than the predetermined allowed value.
5-6. (canceled)
Dependencies are inferred from the claim text.