Offline teaching device and motion-program generation method
AssigneeFanuc Corporation
InventorAtsushi NOBUHARA
Life of this patent
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Abstract
An offline teaching device for reducing an amount of time required to generate a motion route with which interference could be avoided, the offline teaching device including at least one processor. The processor generates, as a result of a motion program that includes a plurality of teaching points being input, numerous interpolation points on a motion route of a tool distal-end point of a robot, the motion route being formed among the teaching points in accordance with the motion program; and detects whether interference occurs between each of the generated interpolation points and a peripheral device.
Claims5
An offline teaching device comprising:
- at least one processor, wherein the processor:
- generates, as a result of a motion program that includes a plurality of teaching points being input, numerous interpolation points on a motion route of a tool distal-end point of a robot, the motion route formed among the teaching points in accordance with the motion program;
- and
- detects whether interference occurs between each of the generated interpolation points and a peripheral device.
A motion program generation method, comprising:
- generating, as a result of a basic motion program that includes a plurality of teaching points being input, numerous interpolation points on a motion route of a tool distal-end point of a robot, the motion route being formed among the teaching points in accordance with the basic motion program;
- detecting whether interference occurs between each of the generated interpolation points and a peripheral device;
- when interference with the peripheral device is detected at any one of the interpolation points, adding an intermediate teaching point between the teaching points before and after the interpolation point and performing the generation of the interpolation point and the detection of interference occurrence with respect to the motion program in which the intermediate teaching point has been added;
- and
- when no interference is detected at all of the interpolation points, outputting a final motion program.
Dependencies are inferred from the claim text.