US 9,891,618 B2 · Program correcting device and program correcting method of industrial robot

Abstract

A program correcting device comprises an executing part which executes a simulation of operation of the robot based on an operating program, a calculating part which calculates a variation with time of a TCP speed from the simulation results, an evaluating part which evaluates a pattern of the calculated variation with time if a minimum value of the TCP speed during the calculated variation with time is a predetermined lower limit value or less, a selecting part which selects a correction scheme of the operating program for increasing the minimum value of the TCP speed from a plurality of correction schemes, in accordance with the evaluation results of the pattern of the variation with time, and a correcting part which corrects the operating program in accordance with the selected correction scheme.

Claims14

Dependent claims

A program correcting device which corrects an operating program of a robot for moving a tip of a tool which is attached to said robot along a predetermined movement path at a command speed, the device comprising:

at least one processor configured to:
execute a simulation of operation of said robot based on said operating program,
calculate a variation with time of a movement speed of said tip for the period when said tip passes through said of movement path from the results of said simulation of operation,
evaluate a pattern of said variation with time calculated by said calculating part if a minimum value of said movement speed during said variation with time calculated by said calculating part is a predetermined lower limit value or less,
select a correction scheme of said operating program for increasing said minimum value of the movement speed from a predetermined plurality of correction schemes, in accordance with the results of evaluation of the pattern of said variation with time,
correct said operating program in accordance with the correction scheme, and
instructing the robot to move the tip of the tool based on the corrected operating program.

4 more elements

A program correcting method which corrects an operating program for moving a tip of a tool which is attached to a robot along a predetermined movement path at a command speed, comprising

executing a simulation of operation of said robot based on said operating program,
calculating a variation with time of a movement speed of said tip for the period when said tip passes through said movement path from the results of said simulation of operation,
evaluating a pattern of the calculated variation with time if a minimum value of said movement speed during the calculated variation with time is a predetermined lower limit value or less,
selecting a correction scheme of said operating program for increasing said minimum value of the movement speed from a predetermined plurality of correction schemes, in accordance with the results of evaluation of the pattern of the variation with time,
correcting said operating program in accordance with the selected correction scheme, and moving the tip of the tool, using the robot, based on the corrected operating program.

2 more elements

Dependencies are inferred from the claim text.

Program correcting device and program correcting method of industrial robot

Life of this patent

Program correcting device and program correcting method of industrial robot

Life of this patent

Abstract

Claims14