Determination of robot posture
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsMakoto TAKAHASHI, Wataru WATANABE, Yutaro UCHIDA, Ryo KABUTAN
Life of this patent
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Abstract
A program generation system according to an example includes circuitry configured to: set multiple kinds of candidate postures of a robot in a connection area between a work path that is a trajectory of the robot in a task and an air-cut path that is a trajectory of the robot connecting tasks; evaluate an operation program including the work path and the air-cut path while changing a posture of the robot in the connection area among the multiple kinds of candidate postures; determine one of the multiple kinds of candidate postures as the posture of the robot in the connection area based on an evaluation result in the evaluating; and generate the operation program.
Claims20
A program generation system comprising circuitry configured to:
- set multiple kinds of candidate postures of a robot in a connection area between a work path that is a trajectory of the robot in a task and an air-cut path that is a trajectory of the robot connecting tasks;
- evaluate an operation program including the work path and the air-cut path while changing a posture of the robot in the connection area among the multiple kinds of candidate postures;
- determine one of the multiple kinds of candidate postures as the posture of the robot in the connection area based on an evaluation result in evaluating the operation program;
- and
- generate the operation program.
A program generation method executed by a program generation system comprising at least one processor, the method comprising:
- setting multiple kinds of candidate postures of a robot in a connection area between a work path that is a trajectory of the robot in a task and an air-cut path that is a trajectory of the robot connecting tasks;
- evaluating an operation program including the work path and the air-cut path while changing a posture of the robot in the connection area among the multiple kinds of candidate postures;
- determining one of the multiple kinds of candidate postures as the posture of the robot in the connection area based on an evaluation result in said evaluating;
- and
- generating the operation program.
A non-transitory computer-readable storage medium storing a generation program for causing a computer to execute:
- setting multiple kinds of candidate postures of a robot in a connection area between a work path that is a trajectory of the robot in a task and an air-cut path that is a trajectory of the robot connecting tasks;
- evaluating an operation program including the work path and the air-cut path while changing a posture of the robot in the connection area among the multiple kinds of candidate postures;
- determining one of the multiple kinds of candidate postures as the posture of the robot in the connection area based on an evaluation result in said evaluating;
- and
- generating the operation program.
Dependencies are inferred from the claim text.