Robot programming device and robot programming method

Abstract

The present application easily generates a motion program of a robot that moves a held object held by the robot while pressing the held object against a fixed object. A robot programming device is a robot programming device that generates a motion program of a robot that moves a held object held by the robot while pressing the held object against a fixed object, and includes: a model arrangement unit that arranges a robot model of the robot, a held object model of the held object, and a fixed object model of the fixed object in a three-dimensional virtual space; a reference line specification unit that specifies a reference line that indicates a range of pressing on the periphery of the held object model against the fixed object; a transfer start point specification unit that specifies a transfer start point at which the reference line is transferred on the fixed object model; and a motion track generation unit that generates a motion track by transferring the reference line on the fixed object with the transfer start point as a start point.

Description

Technical Field

[0001] This invention relates to a robot programming device and a robot programming method. Background Technology

[0002] A known technique involves configuring and simultaneously displaying a 3D model of a robot equipped with tools, a workpiece, and at least one peripheral device on a screen; specifying a machining line on the 3D model of the workpiece; specifying the motion form, speed, position, and posture of a teaching point generated based on the specified machining line; and generating a motion program for the robot to perform workpiece machining operations based on the specified machining line, the specified motion form, speed, position, and posture. For example, see Patent Document 1.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2016-002627 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] For example, in generating motion programs that press a robot-held roller onto a flat block and paste a pattern (e.g., sealing paper) on the roller onto the flat block, or motion programs that press a robot-held workpiece onto a belt sander and grind the workpiece, it is difficult to generate motion programs in the aforementioned prior art where the robot-held roller is pressed onto the flat block, or where the robot-held workpiece is always pressed onto the belt sander.

[0008] For example, during teaching, the operator must move the robot so that the roller held by the robot contacts the flat block or the workpiece held by the robot contacts the belt mill, confirming one point at a time while teaching manually. Therefore, teaching requires a lot of time.

[0009] Therefore, it is desirable to easily generate motion programs for robots that move while pressing the object held by the robot against a fixed object.

[0010] Methods for solving problems

[0011] One aspect of the robot programming apparatus disclosed herein is a robot programming apparatus for generating motion programs for a robot that moves while pressing a gripper held by the robot against a fixed object. The apparatus comprises: a model configuration unit that configures a robot model of the robot, a gripper model of the gripper, and a fixed object model of the fixed object in a three-dimensional virtual space; a baseline designation unit that designates a baseline representing the area on the outer periphery of the gripper model that is pressed against the fixed object; a transfer start point designation unit that designates a transfer start point for transferring the baseline onto the fixed object model; and a motion trajectory generation unit that uses the transfer start point as a start point to transfer the baseline onto the fixed object, thereby generating a motion trajectory.

[0012] One aspect of the robot programming method disclosed herein is a robot programming method that generates a computer-implemented motion program for a robot that moves while pressing a gripper held by the robot against a fixed object. The method involves configuring a robot model of the robot, a gripper model of the gripper, and a fixed object model of the fixed object in a three-dimensional virtual space. A baseline is specified representing the area on the outer periphery of the gripper model that is pressed against the fixed object. A transfer start point for transferring the baseline onto the fixed object model is specified. Using the transfer start point as the starting point, the baseline is transferred onto the fixed object to generate a motion trajectory.

[0013] Invention Effects

[0014] According to one method, it is possible to easily generate motion programs for a robot that moves while pressing the object it holds against a fixed object. Attached Figure Description

[0015] Figure 1 This is a functional block diagram illustrating an example of the functional structure of the robot programming device according to the first embodiment.

[0016] Figure 2 This is an example of a screen showing a virtual space displayed in the display unit.

[0017] Figure 3A This is a diagram showing an example of a baseline specified by the baseline designation department.

[0018] Figure 3B This is a diagram illustrating an example of a baseline.

[0019] Figure 4 This is a diagram illustrating an example of the relationship between the baseline and the motion path.

[0020] Figure 5A This is a diagram illustrating an example of the motion of the motion trajectory generation unit.

[0021] Figure 5BThis is a diagram illustrating an example of the motion of the motion trajectory generation unit.

[0022] Figure 5C This is a diagram illustrating an example of the motion of the motion trajectory generation unit.

[0023] Figure 5D This is a diagram illustrating an example of the motion of the motion trajectory generation unit.

[0024] Figure 6A This is a diagram illustrating the relationship between the taught position of a robot's motion program and the position of the point on the motion track as observed from the robot.

[0025] Figure 6B This is a diagram illustrating an example of the position of the robot's tool tip as viewed from the points that form the baseline.

[0026] Figure 7 This is a diagram representing an example of a robot's motion path based on the generated motion program.

[0027] Figure 8 This is a flowchart illustrating the motion program generation and processing of the robot programming device.

[0028] Figure 9 This is an example of a screen showing a virtual space displayed in the display unit. Detailed Implementation

[0029] <First Implementation>

[0030] The structure of this embodiment will be described in detail with reference to the accompanying drawings. Here, an example is illustrated where, in a workspace, a robot holds a roller and presses the held roller against a flat, plate-shaped workpiece, i.e., a flat block, and attaches sealing paper or similar material, which is placed on the roller, to the flat block. Furthermore, as described later, the present invention can also be applied to situations where a robot holds a workpiece and presses the held workpiece against a belt mill to process the workpiece.

[0031] Figure 1 This is a functional block diagram illustrating a functional configuration example of the robot programming device according to the first embodiment.

[0032] like Figure 1 As shown, the robot programming device 1 is a known computer, comprising a control unit 10, an input unit 11, a display unit 12, and a storage unit 13. The control unit 10 includes a virtual space generation unit 101, a model configuration unit 102, a baseline designation unit 103, a transfer start point designation unit 104, a motion trajectory generation unit 105, and a motion program generation unit 106. Furthermore, the storage unit 13 contains model data 131.

[0033] Alternatively, the robot programming device 1 can also be connected to a robot control device (not shown) that controls the movements of the robot (not shown) via a network such as a LAN (Local Area Network) or the Internet. Or, the robot programming device 1 can be directly connected to the robot control device (not shown) via a connection interface (not shown).

[0034] <Input Section 11>

[0035] The input unit 11 is, for example, a keyboard or a touch panel configured in the display unit 12 described later, and accepts input from the operator.

[0036] <Display Section 12>

[0037] The display unit 12 is, for example, a liquid crystal display. As described below, the display unit 12 displays, for example, 3D CAD data of a robot (not shown), a roller or workpiece held by the robot, and a fixed object such as a flat block or belt mill that presses the held object, which is input (selected) by the operator via the input unit 11.

[0038] <Storage Department 13>

[0039] Storage unit 13 can be an SSD (Solid State Drive) or HDD (Hard Disk Drive), and can also store model data 131 together with various control programs.

[0040] As described above, model data 131 is input (selected) by the operator via input unit 11, and stores 3D CAD data of the robot (not shown), the roller held by the robot, and the fixed object such as the flat block pressing the held object, which is displayed on display unit 12.

[0041] <Control Unit 10>

[0042] The control unit 10 includes a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), CMOS (Complementary Metal-Oxide-Semiconductor) memory, etc., which are configured to communicate with each other via a bus, as is known to those skilled in the art.

[0043] The CPU is the processor that controls the entire robot programming device 1. The CPU reads the system program and application program stored in ROM via the bus, and controls the robot programming device 1 according to the system program and application program. Thus, as... Figure 1 As shown, the control unit 10 is configured to perform the functions of the virtual space generation unit 101, the model configuration unit 102, the baseline designation unit 103, the transfer start point designation unit 104, the motion trajectory generation unit 105, and the motion program generation unit 106. The RAM stores various data such as temporary calculation data and display data. Furthermore, the CMOS memory is backed up by a battery (not shown) and is configured as a non-volatile memory that retains its storage state even when the power supply to the robot programming device 1 is disconnected.

[0044] The virtual space generation unit 101 generates a three-dimensional virtual space representing the working space of the robot (not shown), the roller holding object, and the fixed object of the planar block.

[0045] The model configuration unit 102 configures the 3D CAD data of the robot (not shown) (hereinafter also referred to as "robot model"), the 3D CAD data of the roller (holding object) (hereinafter also referred to as "holding object model"), and the 3D CAD data of the planar block (fixed object) (hereinafter also referred to as "fixed object model") in a three-dimensional virtual space generated by the virtual space generation unit 101.

[0046] Specifically, in order to configure a robot, a roller, and a planar block (not shown) in the virtual space, the model configuration unit 102 reads the robot model, the roller's gripping object model, and the planar block's fixing object model from the model data 131 in the storage unit 13. The model configuration unit 102 configures the read robot model, roller's gripping object model, and planar block's fixing object model and displays them on the display unit 12.

[0047] Figure 2 This is an example of a screen displayed in the virtual space of the display unit 12.

[0048] like Figure 2 As shown, a robot model 200, a holding object model 210, and a fixed object model 220 are configured in the virtual space screen. Furthermore, a sealing paper or similar material is attached to the fixed object model 220 on the cylindrical part of the holding object model 210, i.e., the roller.

[0049] Furthermore, in the virtual space, similar to the workspace, the robot model 200 has: a world coordinate system Σw, a three-dimensional orthogonal coordinate system fixed in space; and a mechanical interface coordinate system Σi, a three-dimensional orthogonal coordinate system set at the tool tip point of the gripping object model 210 held by the hand (not shown) at the joint axis of the fingertips of the robot model 200. Additionally, the fixed object model 220 has, for example, a fixed object coordinate system Σk. In this embodiment, the correlation between the positions of the world coordinate system Σw, the mechanical interface coordinate system Σi, and the fixed object coordinate system Σk is obtained through prior calibration. Therefore, the motion program generation unit 106, described later, can use the position defined by the world coordinate system Σw to generate a motion program that controls the position of the front end of the robot model 200 on which the gripping object model 210 is mounted, such as the position of the tool tip point of the gripping object model 210.

[0050] The baseline designation unit 103 designates a baseline representing the range of the planar block pressed against the fixed object on the outer periphery of the holding object model 210 based on the input operation of the operator via the input unit 11.

[0051] Figure 3A This is a diagram showing an example of a baseline specified by the baseline designation unit 103.

[0052] like Figure 3A As shown, baselines can also be emphasized with thick lines. Additionally, baselines can be emphasized with lines other than thick lines, or with lines in colors such as red. Furthermore, as... Figure 3B As shown, the baseline is a set of multiple points.

[0053] Figure 3B This is a diagram illustrating an example of a baseline.

[0054] like Figure 3B As shown, when the holding object model 210 is cylindrical or similar and the reference line wraps around the outer periphery of the holding object model 210, the reference line designator 103 can also designate the starting point for pasting the sealing paper or the like set on the holding object model 210 onto the surface of the fixing object model 220 based on the input operation of the operator via the input unit 11.

[0055] The transfer start point designation unit 104 designates the transfer start point on the transfer reference line on the fixed object model 220.

[0056] Specifically, the transfer start point designation unit 104, based on the user's input operation via the input unit 11, designates points on the fixed object model 220, for example... Figure 2 The origin of the coordinate system Σk of the fixed object model 220 is designated as the starting point of the transfer, and the X-axis direction is designated as the direction of each point on the transfer baseline.

[0057] The motion track generation unit 105 uses the transfer start point specified by the transfer start point designation unit 104 as the start point, transfers the baseline onto the fixed object model 220, and generates a motion track.

[0058] Specifically, such as Figure 4 As shown, the motion track generation unit 105 generates a motion track by transferring along the surface of the fixed object model 220 in the X-axis direction while maintaining the distance between the points constituting the baseline, with the transfer start point coinciding with the start point of the baseline.

[0059] Figures 5A to 5D This is a diagram illustrating an example of the operation of the motion trajectory generation unit 105.

[0060] like Figure 5A As shown, the motion trajectory generation unit 105 aligns the transfer start point and the baseline start point on the surface of the fixed object model 220. Figures 5B to 5D As shown, the motion trajectory generation unit 105 rotates the holding object model 210 sequentially from the starting point of the reference line while transferring the points constituting the reference line point by point onto the surface of the stationary object model 220. Additionally, as... Figures 5B to 5D As shown, when the baseline is a curve, the motion trajectory generation unit 105 approximates the points constituting the baseline with straight lines while projecting them, maintaining the distance between the points constituting the baseline. The motion trajectory generation unit 105 performs this approximation on all points of the baseline. Figures 5B to 5D The transfer shown is as follows: Figure 4 As shown, motion tracks are generated in the X-axis direction of the face of the fixed object model 220.

[0061] The motion program generation unit 106 generates a motion program for the robot that moves while pressing the object against the fixed object, based on the baseline specified by the baseline designation unit 103 and the motion track generated by the motion track generation unit 105.

[0062] Specifically, the motion program generation unit 106 multiplies the position of the robot's tool tip point as observed from each point constituting the baseline with the position of each point transferred to the motion track as observed from the robot model 200, thereby obtaining the teaching position of the robot's motion program (the position of the tool tip point as observed from the robot).

[0063] Figure 6A This is a diagram illustrating the relationship between the taught position of a robot's motion program and the position of the point on the motion track as observed from the robot. Figure 6B This is a diagram illustrating an example of the position of the robot's tool tip as viewed from the points that form the baseline.

[0064] Then, the motion program generation unit 106 calculates the taught positions (positions of the tool tip points as viewed from the robot) of the robot's motion program relative to all points on the motion path. Based on the calculated taught positions, the motion program generation unit 106 generates a motion program that involves pressing the roller against the flat block while moving the robot (not shown) to attach sealing paper or similar items placed on the roller to the flat block. The motion program generation unit 106 can store the generated motion program in the storage unit 13 or output it to the robot control device (not shown).

[0065] Figure 7 This is a diagram representing an example of a robot's motion path based on the generated motion program.

[0066] like Figure 7 As shown, the teaching position (the position of the tool tip) of the robot's motion program becomes the motion path of the robot's motion program.

[0067] <Motion program generation and processing of robot programming device 1>

[0068] Next, refer to Figure 8 This describes the process of generating and processing the motion program of the robot programming device 1.

[0069] Figure 8 This is a flowchart illustrating the motion program generation process of the robot programming device 1. The flowchart shown here is executed whenever a motion program is generated.

[0070] In step S1, the virtual space generation unit 101 generates a virtual space that represents the work space in three dimensions, in which a robot, rollers, and planar blocks are configured.

[0071] In step S2, the model configuration unit 102 configures the robot model 200, the roller holding object model 210, and the planar block fixing object model 220 in the three-dimensional virtual space generated in step S1.

[0072] In step S3, the baseline designation unit 103 designates a baseline on the outer periphery of the holding object model 210 based on the user's input operation via the input unit 11.

[0073] In step S4, the transfer start point designation unit 104 designates the transfer start point on the transfer reference line on the fixed object model 220.

[0074] In step S5, the motion track generation unit 105 uses the transfer start point specified in step S4 as the start point to transfer the baseline onto the fixed object model 220, thereby generating the motion track.

[0075] In step S6, the motion program generation unit 106 generates a motion program for the robot that moves while pressing the roller against the planar block, based on the baseline specified in step S3 and the motion track generated in step S5.

[0076] As described above, the robot programming device 1 of the first embodiment configures a robot model 200, a gripping object model 210, and a stationary object model 220 in a virtual space. The robot programming device 1 specifies a reference line in the gripping object model 210 representing the area pressed against the stationary object model 220, and a transfer start point for transferring the reference line onto the stationary object model 220. Using the transfer start point as the starting point, it transfers each point constituting the reference line onto the stationary object model 220, generating a motion track. Based on the reference line and the motion track, the robot programming device 1 generates a motion program for the robot that moves while pressing the roller against the planar block.

[0077] Therefore, the robot programming device 1 can easily generate a robot motion program that moves the robot while pressing the object it holds against a fixed object, thereby reducing the time required for teaching operations.

[0078] The first embodiment has been described above.

[0079] Next, the second embodiment will be described. As described above, the robot programming device 1 of the first embodiment generates a robot's motion program when the robot holds a roller in the workspace, presses the held roller against a flat block, and attaches a sealing paper or similar material placed on the roller to the flat block. In contrast, the robot programming device 1 of the second embodiment differs from the first embodiment in that it generates a robot's motion program when the robot holds a workpiece in the workspace, presses the held workpiece against a belt mill, and processes the workpiece.

[0080] Therefore, the robot programming device 1 of the second embodiment can easily generate a robot motion program that moves the robot while pressing the object it holds against a fixed object.

[0081] The second embodiment will be described below.

[0082] The robot programming device 1 of the second embodiment and Figure 1 The elements of the robot programming device 1 are the same, and the same reference numerals are used in the accompanying drawings. Detailed descriptions are omitted.

[0083] The robot programming device 1 includes a control unit 10, an input unit 11, a display unit 12, and a storage unit 13. The control unit 10 includes a virtual space generation unit 101, a model configuration unit 102, a baseline designation unit 103, a transfer start point designation unit 104, a motion trajectory generation unit 105, and a motion program generation unit 106. The storage unit 13 includes model data 131.

[0084] The control unit 10, input unit 11, display unit 12, and storage unit 13 have the same functions as those of the control unit 10, input unit 11, display unit 12, and storage unit 13 in the first embodiment.

[0085] Furthermore, the virtual space generation unit 101, model configuration unit 102, baseline designation unit 103, transfer start point designation unit 104, motion track generation unit 105, and motion program generation unit 106 have the same functions as those in the first embodiment.

[0086] Figure 9 This is an example of a screen showing the virtual space displayed by the display unit 12. Additionally, in Figure 9 The image shows only a portion of the fingertip in robot model 200a.

[0087] like Figure 9 As shown, the model configuration unit 102 configures a robot model 200a, a workpiece holding model 210a for the processed object, and a fixed model 220a of the belt mill in virtual space. Additionally, Figure 9 The workpiece of the holding object model 210a has a rounded corner shape, but it can also have any shape such as a cuboid.

[0088] The baseline designation unit 103 is based on the user's input operation via the input unit 11, such as... Figure 9 As shown, the area represented by a thick line on the outer periphery of the gripping model 210a is designated as the baseline. Furthermore, the baseline designation unit 103 can also designate one endpoint of the baseline as the starting point based on user input via the input unit 11.

[0089] The transfer start point designation unit 104 designates the transfer start point on the transfer reference line on the fixed object model 220a.

[0090] Motion trajectory generation unit 105 and Figure 5A as well as Figure 5B Similarly, the specified transfer start point is used as the starting point, and the points constituting the baseline are transferred to the stationary model 220a to generate the motion track.

[0091] The motion program generation unit 106 of the robot programming device 1 generates a motion program for a robot that moves while pressing a workpiece being processed onto a belt sander, based on the baseline specified by the baseline designation unit 103 and the motion track generated by the motion track generation unit 105.

[0092] In addition, the motion program generation and processing of the robot programming device 1 and Figure 8 The situation is the same, so detailed explanations are omitted.

[0093] As described above, the robot programming device 1 of the second embodiment configures a robot model 200a, a gripping object model 210a, and a stationary object model 220a in a virtual space. The robot programming device 1 specifies a reference line in the gripping object model 210a representing the area to be pressed onto the stationary object model 220a, and a transfer start point for transferring the reference line onto the stationary object model 220a. Using the transfer start point as the starting point, it transfers each point constituting the reference line onto the stationary object model 220a, generating a motion track. Based on the reference line and the motion track, the robot programming device 1 generates a motion program for the robot that moves while pressing the workpiece being processed onto a belt mill.

[0094] Therefore, the robot programming device 1 can easily generate a robot motion program that moves the robot while pressing the object it holds against a fixed object, thereby reducing the time required for teaching operations.

[0095] The second embodiment has been described above.

[0096] The first and second embodiments have been described above, but the robot programming device 1 is not limited to the embodiments described above, and includes variations and improvements within the scope of achieving the purpose.

[0097] <Variation Example>

[0098] In the first and second embodiments described above, the robot programming device 1 is configured as a device different from the robot control device (not shown), but it is not limited to this. For example, the robot programming device 1 may also be included in the robot control device (not shown).

[0099] Furthermore, the functions included in the robot programming device 1 in the first and second embodiments can be implemented respectively by hardware, software, or a combination thereof. Here, implementation by software means implementation by reading the program into a computer and executing it.

[0100] Programs can be stored and provided to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., floppy disks, magnetic tapes, hard disks), optical-magnetic recording media (e.g., optical discs), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash memory ROMs, and RAM). Additionally, programs can also be provided to a computer using various types of transient computer-readable media. Examples of transient computer-readable media include electrical signals, optical signals, and electromagnetic waves. Transient computer-readable media can provide programs to a computer via wired communication paths such as wires and optical fibers, or via wireless communication paths.

[0101] Furthermore, the steps of a program recorded on a recording medium include not only processing performed sequentially in time, but also processing that is not necessarily performed sequentially, but is executed in parallel or individually.

[0102] In other words, the robot programming apparatus and robot programming method disclosed herein can be implemented in various ways having the following structures.

[0103] (1) The robot programming device 1 disclosed herein is a robot programming device that generates motion programs for a robot that moves while pressing a gripping object held by the robot against a fixed object. It includes: a model configuration unit 102, which configures robot models 200, 200a of the robot, gripping object models 210, 210a of the gripping object, and fixed object models 220, 220a of the fixed object in a three-dimensional virtual space; a reference line designation unit 103, which designates a reference line indicating the range of the gripping object models 210, 210a pressed against the fixed object; a transfer start point designation unit 104, which designates the transfer start point for transferring the reference line onto the fixed object models 220, 220a; and a motion trajectory generation unit 105, which uses the transfer start point as the start point to transfer the reference line onto the fixed object and generates a motion trajectory.

[0104] According to the robot programming device 1, it is possible to easily generate a robot motion program that moves the robot while pressing the object it is holding against a fixed object.

[0105] (2) The robot programming device 1 according to (1) may also include: an action program generation unit 106, which generates an action program for a robot that moves while pressing the object against a fixed object based on a reference line and an action track.

[0106] Therefore, the robot programming device 1 can reduce the time required for teaching operations.

[0107] (3) The robot programming method disclosed herein is a computer-implemented robot programming method that generates a robot motion program that moves the robot by pressing the gripping object against the fixed object. In this method, robot models 200 and 200a of the robot, gripping object models 210 and 210a of the gripping object, and fixed object models 220 and 220a of the fixed object are configured in a three-dimensional virtual space. A baseline is specified to represent the range of the gripping object models 210 and 210a pressing against the fixed object. The starting point for transferring the baseline is specified on the fixed object models 220 and 220a. The baseline is transferred to the fixed object using the starting point for the transfer, thereby generating the motion trajectory.

[0108] According to this robot programming method, it can achieve the same effect as (1).

[0109] (4) According to the robot programming method described in (3), the robot's motion program can also be generated based on the baseline and motion trajectory, which will press the object against the fixed object while moving.

[0110] Therefore, robot programming methods can achieve the same effect as (2).

[0111] Explanation of reference numerals in the attached figures

[0112] 1 Robot Programming Device

[0113] 10 Control Department

[0114] 101 Virtual Space Generation Department

[0115] Model 102 Configuration Department

[0116] 103 Baseline Designation Section

[0117] 104 Transfer Start Point Designation

[0118] 105 Motion Track Generation Department

[0119] 106 Action Program Generation Department

[0120] 11 Input Section

[0121] 12 Display Units

[0122] 13 Storage Department

[0123] 131 model data.

Claims

1. A robot programming device for generating a motion program for the robot that moves while pressing a gripping object against a fixed object, characterized in that, The robot programming device has the following features: The model configuration unit configures the robot model of the robot, the gripping object model of the gripping object, and the fixing object model of the fixing object in a three-dimensional virtual space. The reference line designation section specifies a reference line representing the area pressed against the fixing object on the outer periphery of the holding object model. The transfer start point designation section designates the transfer start point for transferring the reference line on the fixed object model; as well as The motion track generation unit uses the transfer start point as the starting point to transfer the baseline onto the fixed object, thereby generating a motion track.

2. The robot programming device according to claim 1, characterized in that, The robot programming device also includes an action program generation unit, which generates an action program for the robot to move while pressing the gripping object against the fixed object, based on the baseline and the action track.

3. A robot programming method, comprising generating a computer-implemented motion program for the robot, which moves the robot while pressing an object it holds against a fixed object, characterized in that, The robot model, the gripping object model, and the fixing object model are configured in a three-dimensional virtual space. A baseline is specified to represent the area pressed against the fixing object on the outer periphery of the holding object model. Specify the starting point for transferring the baseline onto the fixed model. Using the transfer start point as the starting point, the baseline is transferred onto the fixed object to generate the motion track.

4. The robot programming method according to claim 3, characterized in that, Based on the baseline and the motion trajectory, a motion program is generated for the robot to move while pressing the gripping object against the fixed object.

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