KR100929445B1 - 로봇 시뮬레이션장치 및 로봇 시뮬레이션 프로그램을 포함하는 기록매체 - Google Patents
로봇 시뮬레이션장치 및 로봇 시뮬레이션 프로그램을 포함하는 기록매체 Download PDFInfo
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- KR100929445B1 KR100929445B1 KR1020057015833A KR20057015833A KR100929445B1 KR 100929445 B1 KR100929445 B1 KR 100929445B1 KR 1020057015833 A KR1020057015833 A KR 1020057015833A KR 20057015833 A KR20057015833 A KR 20057015833A KR 100929445 B1 KR100929445 B1 KR 100929445B1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/455—Emulation; Interpretation; Software simulation, e.g. virtualisation or emulation of application or operating system execution engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40317—For collision avoidance and detection
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
Description
도 10은 도 3의 시뮬레이션 윈도우의 부분 확대도이다.
Claims (12)
- 입력부와, 표시부와, 중앙 컴퓨터와, 연산 프로그램부 및 교시 프로그램 출력부를 구비하고, 장해물이 배설된 작업영역 내에서 피반송물을 반송하는 로봇이 상기 작업영역 내에서 간섭없이 작업을 하는가 어떤가를 시뮬레이션하기 위하여,(1) 좌표축을 갖는 2차원 표시부와,(2) 상기 표시부에, 상기 장해물과 상기 작업영역을 묘획하는 수단과, 이동하는 로봇을 묘획하는 수단과, 로봇에 의해 반송되는 피반송물을 묘획하는 수단과,(3) 상기 피반송물의 중심점 이동 경유(經由)점을 지정하여 경유점을 보간(補間)하는 수단과,(4) 상기 피반송물을 상기 작업영역 내에서 이동시키고, 그 이동궤적을 표시하는 수단과,(5) 상기 이동궤적이 상기 장해물과 간섭하는 영역을 표시하는 수단,을 구비하고,상기 표시부의 화면상에 상기 피반송물과 로봇의 이동시간을 계측하는 수단과, 상기 피반송물과 상기 로봇의 가동부와의 이동궤적을 동화상으로 표시하는 수단을 구비하는 것을 특징으로 하는 로봇 시뮬레이션장치.
- 제 1 항에 있어서,상기 피반송물과 로봇의 가동부의 이동속도를 산출하고, 표시하는 수단을 구비하는 것을 특징으로 하는 로봇 시뮬레이션장치.
- 제 1 항에 있어서,상기 2차원 표시부가 작업영역의 수평면 및/또는 수직면을 표시하는 것을 특징으로 하는 로봇 시뮬레이션장치.
- 제 1 항에 있어서,상기 장해물과 상기 피반송물은 다각형 및/또는 원형으로 표시하는 것을 특징으로 하는 로봇 시뮬레이션장치.
- 제 1 항에 있어서,상기 로봇의 출발위치와 목적위치를 지정하는 것에 의해 상기 피반송물의 이동궤적을 산출하는 수단을 구비하는 것을 특징으로 하는 로봇 시뮬레이션장치.
- 제 1 항에 있어서,상기 피반송물의 출발위치와 상기 피반송물의 이동지점인 복수의 목적위치를 지정하는 것에 의해 상기 피반송물의 이동순로 및 이동궤적을 산출하는 수단을 구비하는 것을 특징으로 하는 로봇 시뮬레이션장치.
- 제 1 항에 있어서,상기 로봇의 가동부의 한계를 지정하는 것에 의해, 상기 피반송물의 반송 불가능한 영역을 산출하여 표시하는 수단을 구비하는 것을 특징으로 하는 로봇 시뮬레이션장치.
- 제 1 항에 있어서,상기 시뮬레이션 결과 얻은 데이터로부터, 적어도 로봇의 치수, 반송경로, 반송속도에 관계하는 교시 데이터를 출력하는 출력부를 구비하는 것을 특징으로 하는 로봇 시뮬레이션장치.
- 제 1 항에 있어서,상기 로봇의 가동부의 동작을 상기 로봇에 교시하는 것을 특징으로 하는 로봇 시뮬레이션장치.
- 제 1 항에 있어서,상기 로봇이 스칼라형 로봇이고, 상기 피반송물이 박판상체인 것을 특징으로 하는 로봇 시뮬레이션장치.
- 제 1 항에 기재된 로봇 시뮬레이션장치에서 생성한 시뮬레이션 데이터에 기초하여 상기 표시부의 화면상에 표시 및/또는 실제 로봇에 작업을 실행시키는 것을 특징으로 하는 프로그램을 포함하는 기록매체.
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PCT/JP2003/003583 WO2004085120A1 (ja) | 2003-03-25 | 2003-03-25 | ロボットシミュレーション装置、および、シミュレーションプログラム |
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KR20050116801A KR20050116801A (ko) | 2005-12-13 |
KR100929445B1 true KR100929445B1 (ko) | 2009-12-03 |
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US (1) | US7606633B2 (ko) |
JP (1) | JP4441409B2 (ko) |
KR (1) | KR100929445B1 (ko) |
CN (1) | CN1758990B (ko) |
AU (1) | AU2003221083A1 (ko) |
WO (1) | WO2004085120A1 (ko) |
Cited By (1)
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US10521522B2 (en) | 2014-06-30 | 2019-12-31 | Kabushiki Kaisha Yaskawa Denki | Robot simulator and file generation method for robot simulator |
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JP4441409B2 (ja) | 2010-03-31 |
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CN1758990A (zh) | 2006-04-12 |
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