Non-transitory computer-readable storage medium, robot transfer time estimation method, and robot transfer time estimation device

A robot transfer time estimation method implemented by a computer, the robot transfer time estimation method comprising:

• acquiring transfer times of a plurality of straight transfer paths for a hand of a vertical articulated robot having at least four controlled axes;
• calculating a vector of each of the plurality of straight transfer paths;
• comparing a direction of a vector of a target path for which a transfer time is to be estimated with a direction of the vector of each of the plurality of straight transfer paths, and identifying, among the plurality of straight transfer paths, a transfer path most similar in vector direction to the target path;
• and
• estimating a transfer time of the target path, in accordance with a scalar quantity of a vector of an identified transfer path, a scalar quantity of the vector of the target path, and a transfer time of the identified transfer path.

A robot transfer time estimation device comprising:

• a memory;
• and
• a processor coupled to the memory and configured to:
• acquire transfer times of a plurality of straight transfer paths for a hand of a vertical articulated robot having at least four controlled axes;
• calculate a vector of each of the plurality of straight transfer paths;
• compare a direction of a vector of a target path for which a transfer time is to be estimated with a direction of the vector of each of the plurality of straight transfer paths, and identify, among the plurality of straight transfer paths, a transfer path most similar in vector direction to the target path;
• and
• estimate a transfer time of the target path, in accordance with a scalar quantity of a vector of an identified transfer path, a scalar quantity of the vector of the target path, and a transfer time of the identified transfer path.