Robot control apparatus with function for robot backward operation

A robot control apparatus for controlling a robot and a cooperative device for cooperation with said robot, comprising:

• first storing means for storing an operation program including at least one statement for specifying an operation of said robot and at least one statement for specifying an operation of said cooperative device;
• forward operation processing means for performing processing of operating said robot and said cooperative device forward in accordance with said operation program;
• second storing means for storing history data of the forward operations of said robot and said cooperative device when said forward operation processing is performed;
• backward operation processing means for performing processing of operating the robot backward so that history of the forward operation of said robot is retraced based on said history data stored in said second storing means;
• and
• means for calling an attention of an operator during said backward operation.

A robot control apparatus for controlling a robot and a cooperative device for cooperation with said robot, comprising:

• first storing means for storing an operation program including at least one statement for specifying an operation of said robot and at least one statement for specifying an operation of said cooperative device;
• forward operation processing means for performing processing of operating said robot and said cooperative device forward in accordance with said operation program;
• second storing means for storing history data of the forward operations of said robot and said cooperative device when said forward operation processing is performed;
• and
• backward operation processing means for performing processing of operating the robot backward so that history of the forward operation of said robot is retraced based on said history data stored in said second storing means,
• wherein said at least one statement for specifying the operation of said cooperative device includes an input/output command relating to an input/output of a signal for determining status of said cooperative device, said history data includes data indicative of the status of said cooperative device before the status changes in response to the input/output command during said forward operation, and
• said backward operation processing means performs said backward operation processing based on the history data indicative of the status before a status change so that the status of said cooperative device is restored.

A robot control apparatus for controlling a robot and a cooperative device for cooperation with said robot, comprising:

• first storing means for storing an operation program including at least one statement for specifying an operation of said robot and at least one statement for specifying an operation of said cooperative device;
• forward operation processing means for performing processing of operating said robot and said cooperative device forward in accordance with said operation program;
• second storing means for storing history data of the forward operations of said robot and said cooperative device when said forward operation processing is performed;
• and
• backward operation processing means for performing processing of operating the robot backward so that history of the forward operation of said robot is retraced based on said history data stored in said second storing,
• wherein said at least one statement for specifying the operation of said cooperative device includes an input/output command relating to an input/output of a signal for determining an open/closed status of a robot hand, said history data includes data indicative of the open/closed status of said robot hand before the status changes in response to the input/output command during said forward operation, and
• said backward operation processing means performs the backward operation processing based on the history data indicative of the status before a status change so that the open/closed status of said robot hand is restored.

A robot control apparatus for controlling a robot and a cooperative device for cooperation with said robot, comprising:

• first storing means for storing an operation program including at least one statement for specifying an operation of said robot and at least one statement for specifying an operation of said cooperative device;
• forward operation processing means for performing processing of operating said robot and said cooperative device forward in accordance with said operation program;
• second storing means for storing history data of the forward operations of said robot and said cooperative device when said forward operation processing is performed;
• and
• backward operation processing means for performing processing of operating the robot backward so that history of the forward operation of said robot is retraced based on said history data stored in said second storing means,
• wherein said at least one statement for specifying the operation of said cooperative device includes a computation command, said history data includes data indicative of a computation value before the value changes in response to the computation command during said forward operation, and
• said backward operation processing means performs the backward operation processing based on the history data indicative of the computation value before a value change so that the computation value is restored.

A robot control apparatus for controlling a robot and a cooperative device for cooperation with said robot, comprising:

• first storing means for storing an operation program including at least one statement for specifying an operation of said robot and at least one statement for specifying an operation of said cooperative device;
• forward operation processing means for performing processing of operating said robot and said cooperative device forward in accordance with said operation program;
• second storing means for storing history data of the forward operations of said robot and said cooperative device when said forward operation processing is performed;
• and
• backward operation processing means for performing processing of operating the robot backward so that history of the forward operation of said robot is retraced based on said history data stored in said second storing means,
• wherein said operation program includes a backward operation dedicated command to be executed only during backward operation, said history data includes data of said backward operation dedicated command, and
• said backward operation processing means executes said backward operation dedicated command in accordance with the history data of said backward operation dedicated command.

A robot control apparatus for controlling a robot and a cooperative device for cooperation with said robot, comprising:

• first storing means for storing an operation program including at least one statement for specifying an operation of said robot and at least one statement for specifying an operation of said cooperative device;
• forward operation processing means for performing processing of operating said robot and said cooperative device forward in accordance with said operation program;
• second storing means for storing history data of the forward operations of said robot and said cooperative device when said forward operation processing is performed;
• and
• backward operation processing means for performing processing of operating the robot backward so that history of the forward operation of said robot is retraced based on said history data stored in said second storing means,
• wherein said operation program includes a start command to start a subprogram which includes a backward operation dedicated command to be executed only during backward operation, said history data includes data of said subprogram start command, and
• said backward operation processing means executes said subprogram in accordance with the history data of said subprogram start command.

A robot control apparatus, comprising:

• a forward operation unit to operate a robot and a cooperative device in a forward operation in accordance with an operation program including at least one statement specifying an operation of the robot and cooperative device;
• a storing unit to store history data of the forward operations of the robot and the cooperative device when the forward operation unit is operated;
• and
• a backward operation unit to operate the robot and cooperative device backward so that the stored history data of forward operations is retraced,
• wherein the at least one statement specifying the operation of the cooperative device includes an input/output command relating to an input/output of a signal for determining the status of the cooperative device, the history data includes data indicative of the status of the cooperative device before the status changes in response to the input/output command during the forward operation, and the backward operation unit performs the backward operation based on the history data indicative of the status before a status change so that the status of the cooperative device is restored.

A robot control apparatus, comprising:

• a forward operation unit to operate a robot and a cooperative device in a forward operation in accordance with an operation program including at least one statement specifying an operation of the robot and cooperative device;
• a storing unit to store history data of the forward operations of the robot and the cooperative device when the forward operation unit is operated;
• and
• a backward operation unit to operate the robot and cooperative device backward so that the stored history data of forward operations is retraced,
• wherein the at least one statement specifying the operation of the cooperative device includes an input/output command relating to an input/output of a signal for determining an open/closed status of a robot hand, the history data includes data indicative of the open/closed status of said robot hand before the status changes in response to the input/output command during the forward operation, and the backward operation processing unit operates based on the history data indicative of the status before a status change so that the open/closed status of the robot hand is restored.

A robot control apparatus, comprising:

• a forward operation unit to operate a robot and a cooperative device in a forward operation in accordance with an operation program including at least one statement specifying an operation of the robot and cooperative device;
• a storing unit to store history data of the forward operations of the robot and the cooperative device when the forward operation unit is operated;
• and
• a backward operation unit to operate the robot and cooperative device backward so that the stored history data of forward operations is retraced,
• wherein the at least one statement specifying the operation of the cooperative device includes a computation command, the history data includes data indicative of a computation value before the value changes in response to the computation command during the forward operation, and the backward operation unit operates based on the history data indicative of the computation value before a value change so that the computation value is restored.

A robot control apparatus, comprising:

• a forward operation unit to operate a robot and a cooperative device in a forward operation in accordance with an operation program including at least one statement specifying an operation of the robot and cooperative device;
• a storing unit to store history data of the forward operations of the robot and the cooperative device when the forward operation unit is operated;
• and
• a backward operation unit to operate the robot and cooperative device backward so that the stored history data of forward operations is retraced,
• wherein the operation program includes a backward operation dedicated command to be executed only during backward operation, the history data includes data of the backward operation dedicated command, and the backward operation unit executes the backward operation dedicated command in accordance with the history data including the backward operation dedicated command.

A robot control apparatus, comprising:

• a forward operation unit to operate a robot and a cooperative device in a forward operation in accordance with an operation program including at least one statement specifying an operation of the robot and cooperative device;
• a storing unit to store history data of the forward operations of the robot and the cooperative device when the forward operation unit is operated;
• and
• a backward operation unit to operate the robot and cooperative device backward so that the stored history data of forward operations is retraced,
• wherein the operation program includes a start command to start a subprogram which includes a backward operation dedicated command to be executed only during backward operation, the history data includes data of the subprogram start command, and the backward operation unit executes the subprogram in accordance with the history data including the subprogram start command.

A robot control apparatus, comprising:

• a forward operation unit to operate a robot and a cooperative device in a forward operation in accordance with an operation program including at least one statement specifying an operation of the robot and cooperative device;
• a storing unit to store history data of the forward operations of the robot and the cooperative device when the forward operation unit is operated;
• and
• a backward operation unit to operate the robot and cooperative device backward so that the stored history data of forward operations is retraced,
• wherein the backward operation unit selectively sets either a continuous mode or step mode for the backward operation.