Program correcting device and program correcting method of industrial robot

Patent metadata

Field	Value
Publication number	US-2016129589-A1
Application number	US-201514933133-A
Country	US
Kind code	A1
Filing date	Nov 5, 2015
Priority date	Nov 6, 2014
Publication date	May 12, 2016
Grant date	—

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.

First claim

1 . 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, comprising
an executing part which executes a simulation of operation of said robot based on said operating program, a calculating part which calculates 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, an evaluating part which evaluates 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, a selecting part which selects 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, and a correcting part which corrects said operating program in accordance with the correction scheme selected by said selecting part.

2 . The program correcting device according to claim 1 , wherein
said correcting part repeatedly corrects said operating program until a minimum value of said movement speed during said variation with time becomes larger than said lower limit value.

3 . The program correcting device according to claim 1 , wherein
said operating program comprises a plurality of operating commands to be executed in sequence, and said calculating part calculates said variation with time while said plurality of operating commands are executed in sequence.

4 . The program correcting device according to claim 3 , wherein
said evaluating part evaluates the pattern of said variation with time based on monotonicity of the variation with time in a first section between the time when said movement speed starts to decrease from said command speed and the time when said movement speed reaches the minimum value, and in a second section between the time when said movement speed starts to increase from the minimum value and the time when said movement speed converges to said command speed.

5 . The program correcting device according to claim 4 , wherein
said plurality of correction schemes include a first correction scheme which comprises adding a new operating command right after the operating command among said plurality of operating commands where said movement speed starts to decrease from said command speed, and said selecting part selects said first correction scheme if said variation with time in said first section is a monotonous decrease and said variation with time in said second section is a monotonous increase.

6 . The program correcting device according to claim 4 , wherein
said plurality of correction schemes include a second correction scheme which comprises changing an operating command right after the operating command among said plurality of operating commands where said movement speed starts to decrease from said command speed, and said selecting part selects said second correction scheme if said variation with time is said first section is a monotonous decrease and said variation with time in said second section a non-monotonous increase.

7 . The program correcting device according to claim 4 , wherein
said plurality of correction schemes include a third correction scheme which comprises deleting an operating command right after the operating command among said plurality of operating commands where said movement speed reaches the minimum value, and said selecting part selects said third correction scheme if said variation with time in said first section is a non-monotonous decrease.

8 . 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, and correcting said operating program in accordance with the selected correction scheme.

9 . The program correcting method according to claim 8 further comprising repeatedly correcting said operating program until a minimum value of said movement speed during the variation with time becomes larger than said lower limit value.

10 . The program correcting method according to claim 8 , wherein
said operating program comprises a plurality of operating commands to be executed in sequence, and said program correcting method further comprises calculating the variation with time while said plurality of operating commands are executed in sequence.

11 . The program correcting method according to claim 10 further comprising evaluating the pattern of the variation with time based on monotonicity of the variation with time in a first section between the time when said movement speed starts to decrease from said command speed and the time when said movement speed reaches the minimum value and in a second section between the time when said movement speed starts to increase from the minimum value and the time when said movement speed converges to said command speed.

12 . The program correcting method according to claim 11 , wherein
said plurality of correction schemes include a first correction scheme which comprises adding a new operating command right after the operating command among said plurality of operating commands where said movement speed starts to decrease from said command speed, and the program correcting method further comprises selecting said first correction scheme if the variation with time in said first section is a monotonous decrease and the variation with time in said second section is a monotonous increase.

13 . The program correcting method according to claim 11 , wherein
said plurality of correction schemes include a second correction scheme which comprises changing an operating command right after the operating command among said plurality of operating commands where said movement speed starts to decrease from said command speed, and the program correcting method further comprises selecting said second correction scheme if the variation with time in said first section is a monotonous decrease and the variation with time in said second section is a non-monotonous increase.

14 . The program correcting method according to claim 11 , wherein
said plurality of correction schemes include a third correction scheme which comprises deleting an operating command right after the operating command among said plurality of operating commands where said movement speed reaches the minimum value, and the program correcting method further comprises selecting said third correction scheme if the variation with time in said first section is a non-monotonous decrease.

Assignees

• Fanuc Corp

Inventors

• Liang Yanxue
• Nagatsuka Yoshiharu

Classifications

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title

• B25J9/1628 Primary

  characterised by the control loop · CPC title

• Y10S901/02

  Arm motion controller · CPC title

• G05B19/416 Primary

  characterised by control of velocity, acceleration or deceleration (G05B19/19 takes precedence) · CPC title

• G05B2219/36087

  Edit, modify program for position errors, moving path, use conversion matrix · CPC title