System, method, and computer program supporting creation of action programs for robots

Abstract

The present invention relates to a system, method and computer program supporting creation of a motion program of a robot to prevent a robot arm pose from not matching a user's expectation. The system of the present disclosure is provided with: a simulator that, with respect to a target position pose included in a motion program, performs on-screen display of a plurality of simulation images representing a plurality of arm poses that the robot arm can assume; and a program modification section that reflects, as a parameter representing a motion command to move toward the target position pose, an arm pose parameter representing an arm pose selected by the user from among the plurality of arm poses.

Description

Technical Field

[0001] This disclosure relates to systems, methods, and computer programs that support the creation of motion programs for robots. Background Technology

[0002] For multi-joint robots used in industry, when specifying the target position and orientation of a fingertip and outputting motion instructions for each joint, the joint angles used to achieve the target position and orientation are usually calculated based on the robot's inverse kinematics. However, the solution to this inverse kinematics may generate multiple solutions.

[0003] Patent document 1 discloses a robot motion teaching support device that uses a simulator to calculate the robot's motion posture at a subsequent position and displays it on the screen, and determines whether there is any robot interference at the subsequent position.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2013-136123 Summary of the Invention

[0005] However, the aforementioned prior art has the problem that the arm posture of the robotic arm reproduced by the solution of inverse kinematics related to the joint angle is different from the arm posture expected by the user.

[0006] According to a first aspect of this disclosure, a system for supporting the creation of motion programs for robots is provided, characterized by comprising: a simulator that displays multiple simulated images representing multiple arm postures that a robotic arm can take, with respect to a target position posture included in the motion program; and a program modification unit that reflects arm posture parameters representing an arm posture selected by a user from the multiple arm postures as parameters representing a motion command to move toward the target position posture.

[0007] According to a second aspect of this disclosure, a method for creating motion programs for a robot is provided, characterized by comprising the following steps: (a) displaying multiple simulated images representing multiple arm postures that the robotic arm can take, with respect to a target position posture included in the motion program; and (b) reflecting an arm posture parameter representing an arm posture selected by a user from the multiple arm postures as a parameter representing a motion command to move toward the target position posture.

[0008] According to a third aspect of this disclosure, a computer program is provided, characterized in that the computer program causes a processor to perform processing to support the creation of a motion program for a robot, the computer program causing the processor to perform the following processing: (a) displaying multiple simulated images representing multiple arm postures that the robotic arm can take, with respect to a target position posture included in the motion program; and (b) reflecting arm posture parameters representing an arm posture selected by a user from the multiple arm postures as parameters representing a motion command to move toward the target position posture. Attached Figure Description

[0009] Figure 1 This is an explanatory diagram showing the structure of the robot system in the implementation method.

[0010] Figure 2 It is a block diagram representing the internal structure of an information processing device.

[0011] Figure 3 It is a flowchart representing the modification process of the action procedure.

[0012] Figure 4 This is an explanatory diagram showing an example of a window used for creating and modifying action programs.

[0013] Figure 5 This is an illustrative diagram showing an example of the screen display on an emulator.

[0014] Figure 6 This is an explanatory diagram showing an example of a screen displaying multiple arm postures in a posture adjustment mode.

[0015] Figure 7 This is an illustrative diagram showing the different arm postures of the Hand symbol.

[0016] Figure 8 This is an explanatory diagram showing the modified motion sequence selected based on arm posture.

[0017] Explanation of reference numerals in the attached figures

[0018] 100…robot; 110…base; 120…robotic arm; 121…first link; 122…second link; 126…arm end effector; 150…end effector; 200…control device; 300…information processing device; 310…processor; 311…motion program creation support unit; 312…program creation unit; 314…simulator; 316…program modification unit; 320…memory; 330…interface circuit; 340…input device; 350…display device. Detailed Implementation

[0019] Figure 1This is an explanatory diagram illustrating an example of a robot system in one embodiment. The robot system includes a robot 100, a control device 200 for controlling the robot 100, and an information processing device 300. The information processing device 300 is, for example, a personal computer. A user can use the information processing device 300 to create or modify motion programs for the robot 100. The control device 200 controls the actions of the robot 100 according to the motion programs and instructions provided by the information processing device 300.

[0020] exist Figure 1 The diagram depicts the three axes X, Y, and Z of an orthogonal coordinate system in three-dimensional space. The X and Y axes are horizontal axes, and the Z axis is a vertical axis. These X, Y, and Z axes are the coordinate axes of a robot coordinate system Σr with the robot 100's pre-set position as its origin.

[0021] The robot 100 includes a base 110 and a robotic arm 120. An end effector 150 is mounted at the distal end 126 of the robotic arm 120. Figure 1 In this example, the end effector 150 is a gripper. The robotic arm 120 has six joints J1 to J6, which are connected sequentially by linkages. Three of the six joints J1 to J6, J2, J3, and J5, are bending joints, and the other three joints J1, J4, and J6 are torsional joints. In the following description, joints J1 to J6 will also be referred to as "J1 axis to J6 axis". A TCP (Tool Center Point) serving as the control point of the robot 100 is provided near the end of the robotic arm 120. The control point TCP can be set at any position. A six-axis robot is illustrated in this embodiment, but robots with arbitrary robotic arm mechanisms having multiple joints can also be used. Furthermore, the robot 100 of this embodiment is a vertical multi-joint robot, but a horizontal multi-joint robot can also be used.

[0022] Figure 2 This is a block diagram illustrating the functions of the information processing device 300. The information processing device 300 includes a processor 310, a memory 320, an interface circuit 330, an input device 340 connected to the interface circuit 330, and a display device 350. A control device 200 is also connected to the interface circuit 330.

[0023] The processor 310 functions as an action program creation support unit 311, supporting the creation of motion programs (RPs) for the robot. The action program creation support unit 311 includes a program creation unit 312, a simulator 314, and a program modification unit 316. The program creation unit 312 performs processing to create the motion program RP according to user input. The created motion program RP is stored in the memory 320. The simulator 314 simulates the robot 100's movements according to the motion program RP and displays the simulated image on the display device 350. The program modification unit 316 performs processing to modify the motion program RP according to user input. The functions of the action program creation support unit 311 are implemented by the processor 310 executing the computer program stored in the memory 320. However, some or all of the functions of the action program creation support unit 311 can also be implemented using hardware circuitry.

[0024] The memory 320 stores the robot model RM and the robot motion program RP used by the simulator 314. The robot model RM is data used to reproduce the shape and movement of one or more robots 100. The motion program RP consists of multiple commands that cause the robot 100 to perform actions. The memory 320 stores one or more motion programs RP.

[0025] Figure 3 This is a flowchart illustrating the modification process of the action procedure RP. In step S110, the user selects the action procedure for the object being modified.

[0026] Figure 4 This is an explanatory diagram illustrating an example of a window W1 used for creating and modifying motion programs (RPs). The upper area of ​​window W1 includes a selection menu MN for selecting a motion program, a button BT1 indicating the start of the simulation for the selected motion program, and a checkbox CB1 indicating whether the attitude adjustment mode is used. The "attitude adjustment mode" refers to a mode where multiple solutions for the joint angles obtained through inverse kinematics calculations of the target position attitude of a motion command are displayed on the simulator 314 screen, representing multiple arm attitudes of the robotic arm 120 reproduced from each solution. The upper area of ​​window W1 also includes a group of execution buttons DBT indicating whether the selected motion program is paused or stopped. The user uses the selection menu MN to select the motion program to be modified.

[0027] The area at the bottom of window W1 displays the procedure sequence (SRP) selected using the selection menu MN. This procedure sequence (SRP) describes the pick-up and stamping operations. The meanings of lines L1 to L12 are as follows. Additionally, the line numbers are provided for clarity.

[0028]

[0029]

[0030] The motion commands L1, L3, L8, and L12 are PTP (Point-to-Point) motion commands. As multiple solutions to the inverse kinematics used to achieve the target position and orientation of the TCP (Target Position and Orientation), multiple arm orientations can be obtained. Therefore, when executing the motion commands for PTP motions through simulation, multiple arm orientations are displayed on the screen. Furthermore, the target position and orientation of the TCP, P0, P1, and P2, are expressed, for example, using position (x, y, z) and orientation (w, p, r) in the robot coordinate system. The orientation is represented by rotation angles (w, p, r) around the three axes.

[0031] The motion commands in lines L4, L6, L9, and L11 are CP (Continuous Path) motion commands. A CP motion refers to the movement of the robotic arm 120 along a specified trajectory, such as a straight line or an arc, when moving from the current position to the target position. In principle, the current posture of the robotic arm 120 is maintained during a CP motion. When executing these motion commands through simulation, only one arm posture can be displayed on the screen. However, multiple arm postures can also be displayed on the screen for CP motions. The commands in lines L2, L5, L7, and L10 are part of the motion procedure SRP, but are not motion commands for the robotic arm 120.

[0032] Thus, in the simulation of the posture adjustment mode, multiple arm postures are displayed on the screen for some motion commands, while only one arm posture is displayed for other motion commands. In this disclosure, the motion that displays multiple arm postures on the screen in the posture adjustment mode is called a "specific motion". Specific motions may also include motions other than PTP motions.

[0033] exist Figure 3 In step S120, the simulation of the action procedure SRP begins according to the user's instructions. Specifically, in Figure 4 In window W1, when the start button BT1 is pressed, simulator 314 begins simulating the selected motion program SRP. At this time, if the attitude adjustment mode checkbox CB1 is selected, multiple arm postures are displayed on the screen during a specific action. Conversely, if the attitude adjustment mode checkbox CB1 is not selected, multiple commands in the motion program SRP are executed sequentially. The simulation when the attitude adjustment mode checkbox CB1 is selected will be explained below.

[0034] In step S130, it is determined whether the action command to be simulated is a specific action. If it is a specific action, the processing from step S140 (described later) is executed. On the other hand, if it is not a specific action, the process proceeds to step S170, and the arm posture of the next position is displayed as a simulated image on the screen.

[0035] Figure 5 This is an explanatory diagram showing an example of the screen display based on simulator 314. The simulated image of robot 100 is displayed in the right area of ​​window W2, which displays the simulation results, and the executing motion program SRP is displayed in the left area of ​​window W2. However, the display of the motion program SRP can be omitted. In step S170, as... Figure 5 As shown, a simulated image representing the posture of an arm is displayed.

[0036] In step S180, it is determined whether there is a next action command. If not, the process ends. Figure 3 The processing continues. On the other hand, if a next action command exists, the process returns to step S130 to determine whether the next action command is a specific action. If the next action command is a specific action, the process proceeds to step S140 to display multiple simulated images representing multiple arm postures.

[0037] Figure 6 This is an explanatory diagram illustrating an example of a screen display showing multiple arm postures. This example simulates a PTP action command. As described above, a PTP action is a specific action that displays multiple simulated images representing multiple arm postures.

[0038] exist Figure 6 The left-hand area of ​​window W3 displays a simulation image SM0 representing the current arm posture and the executing motion program SRP. However, these displays can be omitted.

[0039] In the area to the right of window W3, multiple arm poses of the target position pose P1 are displayed as simulation images SM1 to SM4. In each simulation image, the arm pose parameter PAP, which distinguishes the pose of the robotic arm 120, is displayed with the following three markers.

[0040] (1) Hand sign

[0041] The Hand sign is the first indicator that distinguishes the two postures that the robotic arm 120 can take through rotation of the J1 and J2 axes.

[0042] Figure 7This diagram illustrates two different arm postures indicated by the "Hand" symbol. When the "Hand" symbol is "Right" (right wrist system), it is the normal arm posture where the first link 121 extends along the +X direction from the J1 axis, and the second link 122 continues to extend along the +X direction from the J2 axis. In other words, the "Hand" symbol indicates an arm posture where the first link 121 and the second link 122 extend in essentially the same direction. On the other hand, when the "Hand" symbol is "Left" (left wrist system), the J1 and J2 axes rotate, and the first link 121 extends along the -X direction from the J1 axis, while the second link 122 extends along the +X direction from the J2 axis. In other words, the "Hand" symbol indicates an arm posture where the first link 121 and the second link 122 bend relative to each other and extend in opposite directions. The "Right" and "Left" symbols are distinguished by " / R" and " / L" in the SRP (Style Procedure Responsibility) code.

[0043] (2) Elbow symbol

[0044] The Elbow marker is a second marker that distinguishes the two possible poses of the robotic arm 120 when rotated along the J3 axis. The J3 axis corresponds to the joint of a human elbow. For example, when the Y-coordinate of the target position pose is positive, the Elbow marker is "Above" when the portion corresponding to the human elbow is above, and "Below" when it is below. The "Above" and "Below" Elbow markers are distinguished by " / A" and " / B" in the motion procedure SRP. Simulation images SM1 and SM3 represent two arm poses that differ only in the Elbow marker. The same applies to simulation images SM2 and SM4.

[0045] (3) Wrist sign

[0046] The Wrist marker distinguishes the two possible poses of the robotic arm 120 via rotation along the J5 axis. The J5 axis corresponds to the joint of a human wrist. For example, the Wrist marker is "NoFlip" when the portion corresponding to the human wrist is on the upper side, and "Flip" when it is on the lower side. The "NoFlip" and "Flip" markers are distinguished by " / N" and " / F" in the motion procedure SRP. Simulation images SM1 and SM2 represent two arm poses that differ only in the Wrist marker. The same applies to simulation images SM3 and SM4.

[0047] There are eight possible combinations of the values ​​of the three flags mentioned above, but... Figure 6Only four of these are displayed. However, for all combinations of flag values, simulated images representing these arm postures can also be displayed. Furthermore, preferably, the simulator 314 is configured not to display arm postures where a portion of the robotic arm 120 is outside a pre-set range of motion as possible arm postures for the robotic arm 120. This way, inappropriate arm postures of the robotic arm 120 are not displayed as candidates, making it easier for the user to select the appropriate arm posture.

[0048] Furthermore, preferably, the simulator 314 is configured to display at least one arm posture: an arm posture of the robotic arm 120 colliding with itself and an arm posture of the robotic arm 120 colliding with surrounding objects. The user can choose whether to display multiple arm postures that the robotic arm 120 can take. Additionally, "arm posture of the robotic arm 120 colliding with itself" means the robotic arm 120 colliding with other parts of the robot 100. Furthermore, "surrounding objects" refers to objects outside the robot 100. These surrounding objects are also referred to as "external obstacles" or "obstacles." Figure 6 In window W3, checkboxes CB2 and CB3 are provided for the user to specify whether to display these two arm postures. For example, when none of the arm postures that the robotic arm 120 can take are displayed when these checkboxes CB2 and CB3 are not selected, by selecting checkboxes CB2 and CB3, the arm postures of the robotic arm 120 colliding with itself and the arm postures of the robotic arm 120 colliding with surrounding objects can be displayed. As a result, it is possible to confirm whether the arm postures cause these problems. In the case of colliding with surrounding objects, it is preferable that the surrounding objects are also displayed in the simulation image. Furthermore, when displaying the arm posture where an impact occurs, it is preferable to change the color of the arm portion where the impact occurs to a specific color, thereby making the impact portion recognizable.

[0049] In this way, by displaying the arm posture parameters PAP separately for each arm posture in simulator 314, the user can easily confirm the relationship between multiple arm postures and the arm posture parameters PAP. The arm posture parameters PAP can be represented by only a portion of the three flags mentioned above, or by using other axis-related flags. Furthermore, the display of the arm posture parameters PAP can be omitted.

[0050] For a four-axis horizontal articulated robot (scalar robot), the arm posture parameter PAP can be composed of an arm posture flag. This arm posture flag distinguishes between two postures that the robotic arm can take through rotation of the first and second axes, both of which are torsion joints. This arm posture flag can be configured to distinguish, when viewed from above, whether the robotic arm, acting as a human arm, is facing an orientation equivalent to the right arm or the left arm.

[0051] The simulation images SM1-SM4 also display the estimated travel time ET from the current position to the target position. The estimated travel time ET is an estimate of the time required to move from the current position to the target position. The estimated travel time ET takes into account multiple motion parameters such as speed, acceleration, load, and inertia set in the motion procedure SRP. Alternatively, the user can use this estimated travel time ET as a reference to select the preferred arm posture. However, the display of the estimated travel time ET can be omitted.

[0052] Alternatively, dynamic images can be used instead of static images as simulation images. For example, dynamic images representing the movement from the current position to the target position can be used. Furthermore, dynamic images with a frame rate lower than the usual 30 frames per second, such as animated dynamic images, can also be used. Additionally, when using dynamic images, it is preferable to provide buttons for each dynamic image to indicate the start and stop of the playback. If the simulation image is displayed as a dynamic image, it is possible to confirm whether the robotic arm 120 has performed the appropriate movement.

[0053] exist Figure 3 In step S150, the user selects an arm pose. Specifically, the user selects a pose using the pointer PT. Figure 6 Select the preferred arm pose from the multiple arm poses displayed in window W3, and press the "Select Complete" button BT2 to select the preferred arm pose. Figure 6 In the example, it indicates that the simulated image SM2 of the second arm pose was selected. In this case, "Hand=Right", "Elbow=Above", and "Wrist=Flip" are selected as the arm pose parameters PAP.

[0054] In step S160, the program modification unit 316 modifies the motion program SRP according to the selected arm posture.

[0055] Figure 8 This is an explanatory diagram illustrating the modified motion procedure (SRP) selected based on arm posture. In this example, line L3 of the motion procedure SRP is modified, only at this point... Figure 4 The difference lies in the parameter " / R / A / F" which represents the arm posture parameters PAP as "Hand=Right", "Elbow=Above", and "Wrist=Flip" in line L3. This modification is performed by the program modification unit 316. The robot 100 executes the modified motion program SRP, and when it reaches the target position posture P1, the robot 100 performs the motion by adopting the arm posture specified by these arm posture parameters PAP. Alternatively, it is also possible that when... Figure 6When a user selects an arm pose, the actual robot 100 performs the action by having the actual robotic arm 120 take the next target position pose P1.

[0056] When the modification of the action procedure SRP ends, proceed to step S170, as described above. Figure 5 Similarly, a simulated image representing the arm's posture at the next target position P1 is displayed. In step S180, it is determined whether a next action command exists. If a next action command exists, the process returns to step S130 and repeats the above process. On the other hand, if no next action command exists, the process ends. Figure 3 The processing.

[0057] Additionally, when in Figure 4 If the checkbox CB1 for the attitude adjustment mode in window W1 is not selected, steps S130, S170, and S180 are executed repeatedly in sequence, and the display for each action command is as follows. Figure 5 The image shown represents a simulated image of an arm posture. In this case, the values ​​of the arm posture parameters used to determine the target position posture of each action command are determined according to pre-set rules.

[0058] As described above, in this embodiment, regarding the target position posture represented by the action command, the screen displays multiple simulated images showing multiple arm postures that the robotic arm 120 can take. Furthermore, the arm posture parameter PAP, representing the arm posture selected by the user from these arm postures, is reflected as a parameter of the action command. Therefore, without actually performing any actions on the robot, the user can select the desired arm posture by observing the candidate arm postures that can be taken at the target position posture. Moreover, the motion program can be modified to make the robotic arm 120 take the selected arm posture.

[0059] For robots with seven or more joints, similar to six-axis robots, multiple simulated images representing various arm postures that the robotic arm can take can be displayed. In this case, it is preferable to use four or more arm posture markers that constitute the arm posture parameters. This way, even for robots with redundant degrees of freedom, multiple arm postures that the robotic arm can take can be displayed on the screen for the user to select.

[0060] Other methods:

[0061] This disclosure is not limited to the embodiments described above, and can be implemented in various ways without departing from its spirit. For example, this disclosure can also be implemented in the following aspects. The technical features in the above embodiments corresponding to the technical features in the various aspects described below can be appropriately replaced and combined in order to solve some or all of the problems of this disclosure, or to achieve some or all of the effects of this disclosure. Furthermore, if such technical features are not described as essential technical features in this specification, they can be appropriately deleted.

[0062] (1) According to a first aspect of this disclosure, a system for supporting the creation of motion programs for a robot is provided. The system comprises: a simulator that displays multiple simulated images of multiple arm postures that a robotic arm can take, with respect to a target position posture included in the motion program; and a program modification unit that reflects arm posture parameters representing an arm posture selected by a user from the multiple arm postures as parameters representing a motion command to move toward the target position posture.

[0063] According to this system, without the robot actually performing any actions, the user can observe multiple candidate arm postures that can be taken at the target position, select the desired arm posture, and modify the motion program to make the robotic arm take the selected arm posture.

[0064] (2) In the above system, the simulator may also display the arm posture parameters for the multiple arm postures respectively.

[0065] With this system, users can easily confirm the relationship between multiple arm poses and arm pose parameters.

[0066] (3) In the above system, the robot may also be a six-axis robot with the following structure for the robotic arm: a first axis, a fourth axis, and a sixth axis as torsional joints, and a second axis, a third axis, and a fifth axis as bending joints, connected sequentially from the first axis to the sixth axis by connecting rods. Alternatively, the arm posture parameters may include: a first flag distinguishing two postures that the robotic arm can take through rotation of the first axis and the second axis; a second flag distinguishing two postures that the robotic arm can take through rotation of the third axis; and a third flag distinguishing two postures that the robotic arm can take through rotation of the fifth axis.

[0067] According to the system, three markers can be used to distinguish the multiple poses that a six-axis robotic arm can take.

[0068] (4) In the above system, the simulator may also be configured not to display the arm posture of a part of the robotic arm outside the preset range of motion as the multiple arm postures that the robotic arm can take.

[0069] According to this system, inappropriate arm postures of the robotic arm are not displayed as candidates, so users can more easily select the appropriate arm posture.

[0070] (5) In the above system, the simulator may also be configured to be at least one of the arm postures of the robotic arm when it collides with itself and the arm postures of the robotic arm when it collides with surrounding objects, and the user may choose whether to display the multiple arm postures that the robotic arm can take.

[0071] This system can confirm whether the robotic arm has collided with itself or with surrounding objects.

[0072] (6) In the above system, the simulator may also be configured to display the estimated movement time from the current position posture to the target position posture for a plurality of arm postures that the robotic arm can take.

[0073] The system displays estimated movement times for multiple arm poses, making it easier for users to select the appropriate arm pose.

[0074] (7) In the above system, the simulated image may also be a dynamic image representing the action from the current position attitude to the target position attitude.

[0075] This system can confirm whether the robotic arm is making appropriate movements.

[0076] (8) According to a second aspect of this disclosure, a method for supporting the creation of motion programs for a robot is provided. The method includes: (a) a step of displaying multiple simulated images representing multiple arm postures that a robotic arm can take, with respect to a target position posture included in the motion program; and (b) a step of reflecting arm posture parameters representing an arm posture selected by a user from the multiple arm postures as parameters representing a motion command to move toward the target position posture.

[0077] According to a third aspect of this disclosure, a computer program is provided that enables a processor to perform processing to support the creation of motion programs for a robot. The computer program enables the processor to perform: (a) processing, with regard to a target position posture included in the motion program, displaying multiple simulated images representing multiple arm postures that the robotic arm can take; and (b) processing, reflecting arm posture parameters representing an arm posture selected by a user from the multiple arm postures as parameters representing a motion command to move towards the target position posture.

[0078] This disclosure can also be implemented in various ways other than those described above. For example, it can be implemented as a robot system with a robot and a control device, a computer program for implementing the functions of the control device, and a non-transitory storage medium that records the computer program.

Claims

1. A system for supporting the creation of motion programs for robots, characterized in that, have: The simulator displays multiple simulated images representing various arm postures that the robotic arm can take, relating to the target position and orientation included in the motion program; and The program modification unit will reflect the arm posture parameters, which represent the arm posture selected by the user from the plurality of arm postures, as parameters representing the action command to move towards the target position posture. The simulator displays the arm posture parameters for each of the multiple arm postures. The robot is a six-axis robot with the following structure: a first axis, a fourth axis, and a sixth axis as torsional joints, and a second axis, a third axis, and a fifth axis as bending joints, connected sequentially from the first axis to the sixth axis by connecting rods. The arm posture parameters include: a first marker, which distinguishes two postures that the robotic arm can take by rotating through the first axis and the second axis; a second marker, which distinguishes two postures that the robotic arm can take by rotating through the third axis; and a third marker, which distinguishes two postures that the robotic arm can take by rotating through the fifth axis.

2. The system for supporting robot motion program creation according to claim 1, characterized in that, The simulator is configured not to display arm postures where a portion of the robotic arm is outside a pre-defined range of motion as the multiple arm postures that the robotic arm can take.

3. The system for supporting the creation of robot motion programs according to claim 2, characterized in that, The simulator is configured with at least one of the following arm postures: the arm posture of the robotic arm colliding with itself and the arm posture of the robotic arm colliding with surrounding objects. The user can choose whether to display the multiple arm postures that the robotic arm can take.

4. The system for supporting the creation of robot motion programs according to claim 1, characterized in that, The simulator is configured to display multiple arm postures that the robotic arm can take, and to show the estimated movement time from the current position posture to the target position posture.

5. The system for supporting the creation of motion programs for robots according to any one of claims 1 to 4, characterized in that, The simulated image is a dynamic image representing the action from the current position attitude to the target position attitude.

6. A method for supporting the creation of motion programs for robots, characterized in that, The process includes the following steps: (a) Displaying multiple simulated images representing various arm postures that the robotic arm can take, relating to the target position and orientation included in the motion program; and (b) The arm posture parameters, representing the user's selection of one arm posture from the plurality of arm postures, are reflected as parameters representing a motion command to move towards the target position posture. In step (a), the arm posture parameters are displayed for each of the plurality of arm postures. The robot is a six-axis robot with the following structure: a first axis, a fourth axis, and a sixth axis as torsional joints, and a second axis, a third axis, and a fifth axis as bending joints, connected sequentially from the first axis to the sixth axis by connecting rods. The arm posture parameters include: a first marker, which distinguishes two postures that the robotic arm can take by rotating through the first axis and the second axis; a second marker, which distinguishes two postures that the robotic arm can take by rotating through the third axis; and a third marker, which distinguishes two postures that the robotic arm can take by rotating through the fifth axis.

7. A computer program, characterized in that, The computer program causes the processor to perform processing that supports the creation of motion programs for the robot. The computer program causes the processor to perform the following processing: (a) Displaying multiple simulated images representing various arm postures that the robotic arm can take, relating to the target position and orientation included in the motion program; and (b) The arm posture parameters, representing the user's selection of one arm posture from the plurality of arm postures, are reflected as parameters representing a motion command to move towards the target position posture. In step (a), the arm posture parameters are displayed for each of the plurality of arm postures. The robot is a six-axis robot with the following structure: a first axis, a fourth axis, and a sixth axis as torsional joints, and a second axis, a third axis, and a fifth axis as bending joints, connected sequentially from the first axis to the sixth axis by connecting rods. The arm posture parameters include: a first marker, which distinguishes two postures that the robotic arm can take by rotating through the first axis and the second axis; a second marker, which distinguishes two postures that the robotic arm can take by rotating through the third axis; and a third marker, which distinguishes two postures that the robotic arm can take by rotating through the fifth axis.

Images