Device, method, program and recording medium for robot offline programming

An offline programming method for preparing an operation program for making a robot with a hand attached thereto perform a handling operation for an object with respect to a machine tool, said object including at least one of a workpiece and a tool, the method being executed by a processor of a computer and comprising:

• designating a relative positional relationship between said object and said hand when said hand holds said object;
• determining a position and orientation of said object mounted on said machine tool when said robot performs said handling operation, based on (i) a command specifying a position of said object and (ii) orientation data of a workpiece coordinate system provided in said machine tool, said command being included in a workpiece processing program given to said machine tool;
• determining a position and orientation of said robot acting to hold said object by said hand when said robot performs said handling operation, based on (a) said relative positional relationship between said object and said hand as designated and (b) said position and orientation of said object as determined;
• generating said operation program by using said position and orientation of said robot as determined;
• and
• determining an error in a relative positional relationship between said machine tool and said robot, based on detection data of a position detector disposed adjacent to said hand of said robot, and correcting said operation program in response to said error, when said operation program generated by said operation-program generating section is applied to a manufacturing system including said machine tool and said robot.

An offline programming method for preparing an operation program for making a robot with a hand attached thereto perform a handling operation for an object with respect to a machine tool, said object including at least one of a workpiece and a tool, the method being executed by a processor of a computer and comprising:

• correcting said operation program in response to an error in a relative positional relationship between said machine tool and said robot, when said operation program is applied to a manufacturing system including said machine tool and said robot;
• wherein correcting said operation program comprises:
• providing a machine tool model and a robot model, respectively prepared by modeling said machine tool and said robot;
• setting a base coordinate-system model on said machine tool model, said base coordinate-system model allowing a workpiece processing program given to said machine tool to be executed;
• obtaining a known positional relationship in said manufacturing system between a position detector and said robot;
• causing said position detector to detect a basic position on said machine tool by detecting a target provided at said basic position, said basic position corresponding to a position of an origin of said base coordinate-system model on said machine tool model;
• causing a shift of said target along a feed axis of said machine tool, said feed axis corresponding to a coordinate axis of said base coordinate-system model, from said basic position to a predetermined reference position, and causing said position detector to detect said reference position of said target;
• determining a base coordinate system of said machine tool for executing said workpiece processing program, based on said basic position and said reference position of said target detected by said position detector;
• and
• correcting said operation program according to a difference between a positional relationship of said base coordinate-system model relative to said robot model and a positional relationship of said base coordinate system relative to said robot.

A non-transitory computer readable recording medium recording computer-executable instructions for preparing, in an offline mode, an operation program for making a robot with a hand attached thereto perform a handling operation for an object with respect to a machine tool, said object including at least one of a workpiece and a tool, said instructions, when executed by a computer, making the computer function as:

• a hand-position designating section for designating a relative positional relationship between said object and said hand when said hand holds said object;
• a first calculating section for determining a position and orientation of said object mounted on said machine tool when said robot performs said handling operation, based on (i) a command specifying a position of said object and (ii) orientation data of a workpiece coordinate system provided in said machine tool, said command being included in a workpiece processing program given to said machine tool;
• a second calculating section for determining a position and orientation of said robot acting to hold said object by said hand when said robot performs said handling operation, based on (a) said relative positional relationship between said object and said hand designated by said hand-position designating section and (b) said position and orientation of said object determined by said first calculating section;
• an operation-program generating section for generating said operation program by using said position and orientation of said robot determined by said second calculating section;
• and
• an operation-program correcting section for (1) determining an error in a relative positional relationship between said machine tool and said robot, based on detection data of a position detector disposed adjacent to said hand of said robot, and (2) correcting said operation program in response to said error, when said operation program generated by said operation-program generating section is applied to a manufacturing system including said machine tool and said robot.