Robot simulation device and robot simulation program

Abstract

Provided is a robot simulation device with which it is possible to easily generate a robot operation route that does not interfere with any peripheral object even under various conditions. This robot simulation device simulates the operations of a robot in a virtual space, the robot simulation device comprising a setting unit, a determination unit, an insertion unit, and a generation unit. The setting unit sets attention points at a plurality of locations on the robot, and the determination unit determines, using a first attention point among the plurality of set attention points as a first reference position, a first movement position at which the robot is moved by a prescribed distance. The insertion unit inserts a first intermediate point at a position between the first reference position and the first movement position when the determined first movement position is such that the robot does not interfere with any peripheral object on a route along which the robot moves, and the generation unit generates a robot operation route that does not interfere with any peripheral object by repeating insertion of intermediate points using the first intermediate point as a second reference position.

Description

Robot simulation device and robot simulation program

[0001] The present disclosure relates to a robot simulation device and a robot simulation program.

[0002] Conventionally, robot simulation devices have been put into practical use to generate a motion path for a robot in a virtual space so that the robot can perform a predetermined task while avoiding interference with surrounding objects. Conventional robot simulation devices generate a motion path by, for example, setting one point on the tip of a tool attached to the robot as a reference position.

[0003] In this specification, the term "peripheral objects" is not limited to peripheral devices with specified functions, such as robot control devices and transport devices, but also refers to various objects that may become obstacles when a robot performs a specified task, including objects or jigs that exist around the robot, or parts of the work target.

[0004] Conventionally, various proposals have been made for robot simulation devices and robot simulation programs that generate a motion path for a robot in a virtual space.

[0005] JP 2021-026602 A JP 2017-140684 A

[0006] As described above, conventional robot simulation devices generate a motion path by setting, for example, a location on the tip of a tool attached to the robot as a reference position. Specifically, in the case of a robot that performs welding (spot welding) using an X-gun type servo gun as a tool, the tip (protrusion) of the fixed arm of the servo gun is usually set as the reference position to generate the motion path of the robot.

[0007] However, for example, when spot welding is performed by placing the movable fixed arm portion of the servo gun in a narrow space, if the tip of the fixed arm portion is set to the reference position, the movable fixed arm portion cannot be moved significantly, making it difficult to easily generate an operating path for the robot that does not interfere with surrounding objects.

[0008] Furthermore, for example, if the reference position is set to one location and a robot movement path is generated, there is a risk that the calculations used to generate the path will fall into a dead end (an infinite loop), making it impossible to generate a movement path, or that a local solution will be reached, making it impossible to generate an optimal movement path.

[0009] Therefore, there is a demand for a robot simulation device and a robot simulation program that can easily generate a robot movement path that does not interfere with surrounding objects under various circumstances.

[0010] In this specification, for the sake of simplicity, a robot system having a robot (multi-axis robot) that performs spot welding using an X-gun type servo gun will be described as an example. However, the robot simulation device and robot simulation program according to this embodiment are not limited to robot systems having a multi-axis robot that performs spot welding using an X-gun type servo gun, and can, of course, be widely applied to robot systems having robots equipped with various tools.

[0011] According to one embodiment of the present disclosure, there is provided a robot simulation device that simulates the movement of a robot in a virtual space, the robot simulation device including a setting unit, a determination unit, an insertion unit, and a generation unit.

[0012] The setting unit sets attention points at multiple locations on the robot, and the determination unit determines a first movement position by moving the robot a predetermined distance, using a first attention point among the set plurality of attention points as a first reference position. The insertion unit, when the determined first movement position does not cause the robot to interfere with surrounding objects on the path along which the robot moves, inserts a first intermediate point at a position between the first reference position and the first movement position, and the generation unit, by using the first intermediate point as a second reference position, generates a movement path for the robot that does not interfere with surrounding objects.

[0013] FIG. 1 is a diagram illustrating an example of a robot system to which a robot simulation device according to this embodiment is applied. FIG. 2 is a block diagram illustrating an example of a robot simulation device according to this embodiment. FIG. 3 is a functional block diagram illustrating a main part of an example of a robot simulation device according to this embodiment. FIG. 4 is a diagram (part 1) illustrating an example of processing in an example of a robot simulation device according to this embodiment. FIG. 5 is a diagram (part 2) illustrating an example of processing in an example of a robot simulation device according to this embodiment. FIG. 6 is a diagram illustrating another example of processing in an example of a robot simulation device according to this embodiment. FIG. 7 is a diagram illustrating points of interest in an example of a robot simulation device according to this embodiment. FIG. 8 is a flowchart illustrating an example of processing in an example of a robot simulation program according to this embodiment.

[0014] Hereinafter, examples of a robot simulation device and a robot simulation program according to the present embodiment will be described in detail with reference to the accompanying drawings. In each drawing, identical or similar components are assigned identical or similar reference numerals. Furthermore, the embodiments described below do not limit the technical scope and meaning of the terms of the invention described in the claims.

[0015] Fig. 1 is a diagram showing an example of a robot system to which a robot simulation device according to this embodiment is applied. In Fig. 1, reference numeral 100 denotes a robot system, 1 denotes a robot, 2 denotes a robot control device, 3 denotes a robot simulation device, and 12 denotes a tool. As shown in Fig. 1, the robot system 100 includes a robot 1 to which a tool 12 is attached, and a robot control device 2 that controls the robot 1 based on a predetermined robot control program. The robot 1 and robot control device 2 are provided in a real space (three-dimensional real space) such as a factory.

[0016] In FIG. 1 , the robot 1 is a multi-axis industrial robot, and the tool 12 is an X-gun type servo gun for spot welding. That is, a servo gun (tool) 12 having a fixed arm portion 12A and a movable arm portion 12B is attached to the hand 11 of the robot 1. A fixed tip is provided on the fixed arm portion 12A, and a movable tip is provided on the movable arm portion 12B. Spot welding is performed on a workpiece (workpiece to be welded) located between the fixed tip tip tip (protrusion) 12a and the movable tip tip tip (protrusion) 12b. Note that various sensors connected to the robot 1 and the robot control device 2, as well as the workpiece on which the tool 12 performs a predetermined operation, are omitted from FIG. 1 .

[0017] The robot simulation device 3 is installed in a location away from the real space, such as a factory where the robot 1 and robot control device 2 are installed, and performs a simulation based on data in a virtual space corresponding to the robot 1, work object (5), and surrounding objects (jigs 6) in the real space, and generates a movement path for the robot 1 (tool 12). The robot simulation device 3 can be installed, for example, as a separate device near the robot control device 2, or can be installed within the robot control device 2. In addition, in FIG. 1, the robot 1 is a multi-axis industrial robot and the tool 12 is an X-gun type servo gun that performs spot welding, but the robot 1 and tool 12 are not limited to an industrial robot and a servo gun, and various robots and tools can be used, as described above.

[0018] 2 is a block diagram for explaining an example of a robot simulation device according to this embodiment. As shown in FIG. 2, the robot simulation device 3 includes a virtual space unit 301, a virtual robot unit 302, a tool focus point storage unit 303, a tool focus point update unit 304, an automatic path generation unit 305, a movement direction determination unit 306, and a tool focus point selection unit 307.

[0019] The virtual space unit 301 converts three-dimensional data of the robot 1, robot control device 2, workpiece 5, jig 6, and other peripheral objects installed in a real space such as a factory into three-dimensional data in the virtual space and stores the data. The virtual robot unit 302 performs a simulation by replacing the movement of the robot 1 in the real space with the movement of the robot 1 in the virtual space (virtual space unit 301). The tool focus point storage unit 303 sets and stores focus points in the virtual space at multiple locations (including movable locations, for example, protrusions of the tool) of the tool 12 attached to the robot 1. When the focus point set at a movable location (for example, the movable tip tip 12b) of the tool 12 attached to the robot 1 moves in the virtual space, the tool focus point update unit 304 updates the position of the focus point based on the amount of movement of the focus point set at the movable location. The amount of movement of the focus point can be calculated, for example, based on the output of encoders installed in each motor that drives the robot 1 and the tool 12, or on program data that drives and controls the robot 1 and the tool 12.

[0020] The automatic path generation unit 305 performs a simulation based on data on the robot 1, the work target, surrounding objects, etc. in the virtual space, and automatically generates a movement path for the robot 1. The movement direction determination unit 306 randomly determines the movement direction of the robot 1, for example, based on a random number, when moving the robot 1. The tool focus point selection unit 307 randomly selects a new focus point to use, for example, based on a random number, from among the multiple focus points stored in the tool focus point storage unit 303. Note that FIG. 2 does not include, for example, a display unit that displays the robot 1, the work target, surrounding objects, etc. in the virtual space, as well as input devices such as a keyboard and mouse that a worker (operator) uses to perform various operations while referring to images on the display unit.

[0021] 3 is a functional block diagram showing the main components of an example of a robot simulation device according to this embodiment. As shown in FIG. 3, the robot simulation device 3 according to this embodiment is a device that simulates the movement of a robot 1 in a virtual space. The main components of this example of the robot simulation device 3 include a setting unit 31, a determination unit 32, an insertion unit 33, and a generation unit 34. The function of the setting unit 31 corresponds to a tool focus point holding unit 303, and the functions of the determination unit 32, the insertion unit 33, and the generation unit 34 correspond to a tool focus point updating unit 304, an automatic path generating unit 305, a movement direction determining unit 306, and a tool focus point selecting unit 307. The example of the robot simulation device according to this embodiment can be configured as a computer having an arithmetic processing unit (e.g., MPU, CPU), memory (e.g., ROM, RAM, flash EEPROM), an I / O device, a display (display unit), and the like.

[0022] 4 and 5 are diagrams for explaining an example of processing in one example of a robot simulation device according to this embodiment, and show a tool (an X-gun type servo gun for spot welding) 12 attached to the robot 1 described with reference to Fig. 1, together with a work object 5 and a jig (peripheral object) 6. Here, Fig. 4(a) shows a case where the tool focus point (focus point) is set at the fixed-side tip tip 12a provided on the fixed arm portion 12A of the servo gun 12, and Figs. 4(b) and 5 show a case where the tool focus point is set at the movable-side tip tip 12b provided on the movable arm portion 12B of the servo gun 12.

[0023] Here, the work object 5 is, for example, a part of a steel body plate of an automobile to be spot welded by a servo gun 12 attached to the robot 1, and the surrounding object 6 is a jig that holds the steel body plate 5 of the automobile. Note that the surrounding object (jig) 6 has barriers 61 and 62 formed thereon, and the work object 5 and surrounding object 6 restrict the movement path of the servo gun (tool) 12.

[0024] First, in an example of processing in an example of the robot simulation device 3 according to this embodiment, the setting unit 31 sets attention points at multiple locations 12a, 12b (13a to 13d). Next, the determination unit 32 determines a position (first movement position) to which the robot 1 is moved a predetermined distance, using one attention point (first attention point 12a) from the set multiple attention points (12a, 12b) as a reference position (first reference position). Furthermore, when the determined reference position (12a) is on the path along which the robot 1 moves and the robot 1 does not interfere with a peripheral object 6, the insertion unit 33 inserts a first intermediate point at a position between the reference position and the first movement position (reference position after movement). Then, the generation unit 34 sets the first intermediate point as a second reference position and repeatedly inserts intermediate points to generate a movement path for the robot 1 (tool 12) that does not interfere with the peripheral object 6.

[0025] In this way, conventional robot simulation devices perform simulation of a robot by setting, for example, one predetermined location as the reference position, whereas in one example of processing in the robot simulation device 3 of this embodiment, attention points are set at multiple locations and any of the multiple attention points is sequentially set as the reference position.

[0026] The setting unit 31 can set tool focus points at multiple locations on the tool 12 attached to the robot 1. For example, the tool focus points on the tool 12 can be set to two protrusions 12a and 12b on the tool 12, as shown in Figures 4(a), 4(b), and 5. The number of tool focus points set on the tool 12 is not limited to two, nor are they limited to protrusions. The determination unit 32 can determine a first tool movement position by moving the tool 12 a very small distance or angle with an upper limit, using a first tool focus point 12a of the multiple set tool focus points 12a and 12b as a first reference position.

[0027] The insertion unit 33 can insert a first intermediate point at a position between the first reference position 12a and the first tool movement position when the determined first tool movement position does not cause the robot 1 (tool 12) to interfere with peripheral objects (including the work target 5) 6 on the path along which the tool 12 moves. Furthermore, the generation unit 34 can automatically generate a movement path for the robot 1 that does not interfere with peripheral objects 6 by repeatedly inserting intermediate points using the first intermediate point as a second reference position. Here, the insertion process of the intermediate point by the insertion unit 33 and the generation process of the movement path for the robot 1 by the generation unit 34 can be realized by various insertion processes of intermediate points and various generation processes of movement paths for the robot 1 that are used in conventional robot simulation devices.

[0028] When the generation unit 34 cannot generate a movement path of the robot 1 that does not interfere with the surrounding objects 6 through processing based on the first movement point 12a, the determination unit 32 can determine, as the first reference position, a position of interest (12b) determined based on a random number from the set plurality of movement points 12a, 12b. Here, when the first reference position is determined based on a random number, there is a possibility that processing will be performed again based on the position of interest 12a (first movement point) when a movement path cannot be generated, but since the frequency of this is probabilistically reduced, it is considered to be almost no problem. Of course, it goes without saying that processing can be added such that the priority of the position of interest 12a when a movement path cannot be generated is lowered.

[0029] As described above, Fig. 4(a) shows a case where the first reference position is set at the fixed tip tip (first target point) 12a, and Fig. 4(b) shows a case where, for example, a movement path of the robot 1 cannot be generated by processing based on the first target point 12a, and the first reference position is set at the movable tip tip 12b determined based on random numbers by the determination unit 32. Furthermore, Fig. 5 shows the movement path generation process when the first reference position is set at the movable tip tip 12b.

[0030] As shown in Figures 4(b) and 5, when the generation unit 34 is unable to generate a movement path for the robot 1 that does not interfere with surrounding objects 6 through processing based on the fixed-side tip tip (first focus point) 12a, the determination unit 32 sets a focus point (for example, the movable-side tip tip 12b) determined based on a random number from the multiple set focus points 12a, 12b as the first reference position (new first reference position), and determines a first tool movement position by moving the tool 12 (movable-side tip tip 12b) by a small distance or small angle with an upper limit set.

[0031] Furthermore, when the determined first tool movement position does not cause the robot 1 to interfere with the peripheral object 6 on the path along which the tool 12 moves, the insertion unit 33 inserts a first intermediate point at a position between the new first reference position 12b and the first movement position. Then, as shown by the outline arrow in Fig. 5 , the generation unit 34 sets the first intermediate point as a second reference position and repeats the insertion of intermediate points, thereby automatically generating a movement path for the robot 1 that does not interfere with the peripheral object 6. That is, by moving the robot 1 by a small distance in a direction determined by a random number (or by a small angle at an angle determined by a random number) based on a reference position determined by a random number, a movement path for the robot 1 that does not interfere with the peripheral object 6 can be generated.

[0032] For example, when the movable arm portion 12B of the servo gun 12 is placed in a narrow space, setting the reference position (first reference position) at the movable tip end 12b of the servo gun 12 makes it possible to easily generate a motion path for the robot 1 (tool 12) coming out of the narrow space. Note that the insertion process of the intermediate point by the insertion unit 33 and the generation process of the motion path by the generation unit 34 can be performed using various processes used in known robot simulation devices.

[0033] FIG. 6 is a diagram illustrating another example of processing in an embodiment of the robot simulation device according to this embodiment. FIGS. 6( a) and 6(b) illustrate a case in which the tool focus point (focus point) is set at the movable tip end 12b of the movable arm 12B of the servo gun 12. As shown in FIG. 6(a), in this other example of processing in the embodiment of the robot simulation device 3 according to this embodiment, the setting unit 31 sets the focus point at a movable location (movable tip end 12b) of the robot 1, and the determination unit 32 determines a first movement position by moving the robot 1 a predetermined distance from the focus point set at the movable location as a first reference position. Furthermore, when the determined first movement position does not cause the robot 1 to interfere with a peripheral object 6 on the path along which the robot 1 moves, the insertion unit 33 inserts a first intermediate point at a position between the first reference position and the first movement position. Then, the generation unit 34 sets the first intermediate point as a second reference position and repeatedly inserts intermediate points to generate a movement path for the robot 1 that does not interfere with peripheral objects. Here, the determination unit 32 updates the position of the attention point set at the movable location based on the amount of movement of the attention point.

[0034] In this way, conventional robot simulation devices perform robot simulation by, for example, setting a predetermined fixed location as a reference position. In contrast, another example of processing in one embodiment of the robot simulation device 3 of this embodiment sets a point of interest at a movable location. The reference position set for the point of interest at the movable location is then updated based on the amount of movement of the point of interest (reference position).

[0035] The setting unit 31 can set a tool focus point at a movable location on the tool 12 attached to the robot 1, and this tool focus point can be set, for example, to a protrusion (12a, 12b) on the tool 12.

[0036] Here, the random number table 35 is referenced by the determination unit 32. When the generation unit 34 is unable to generate a movement path for the robot 1 that does not interfere with surrounding objects through processing based on the first attention point, the determination unit 32 determines, for example, a focus point determined based on a random number from among a plurality of set attention points as the first reference position. As shown in FIG. 6( b), based on the reference position set for the focus point of the movable portion (the movable tip 12 b), the determination unit 32 can also randomly determine the direction for moving the robot 1 to the first movement position based on a random number, or the movement distance of the robot 1 based on a random number. Note that the direction and infinitesimal distance randomly determined based on a random number may be an angle and infinitesimal angle randomly determined based on a random number.

[0037] The robot simulation device 3 according to the present embodiment may be configured to perform the robot simulation in a manner that allows the robot 1 to perform the robot simulation in a controlled manner.

[0038] 7 is a diagram illustrating a focus point in an example of a robot simulation device according to this embodiment. Here, reference numeral 13 denotes an example of a material handling tool for gripping and processing two rod-shaped workpieces 13A and 13B, and 13a to 13d respectively denote examples of focus points. As described above, the tool focus point (focus point) can be set, for example, to the fixed tip end 12a provided on the fixed arm portion 12A of the servo gun 12 and the movable tip end 12b provided on the movable arm portion 12B, but is not limited thereto.

[0039] That is, as shown in Fig. 7, in the example of the robot simulation device according to this embodiment, the attention point can be set, for example, at the tip 13a of a rod-shaped workpiece 13A and the tip 13b of a rod-shaped workpiece 13B gripped by the movable material handling tool 13. Furthermore, the attention point can also be set at rotation points 13c, 13d, etc. of the material handling tool 13 other than the tip points. Note that although the material handling tool 13 shown in Fig. 7 is configured to grip two rod-shaped workpieces 13A and 13B, for example, when gripping three or more rod-shaped workpieces, the attention point can be set at the tip of each of the three or more rod-shaped workpieces.

[0040] As described above, in the example of the robot simulation device according to this embodiment, the attention point can be set at a variety of locations, including a protrusion or a rotating portion of a tool attached to the robot, a protrusion of a workpiece gripped by a material handling tool attached to the robot, or various locations including a movable location. When the attention point (reference position) is set at a movable location, the position of the attention point is updated based on the amount of movement of the attention point. As described above, the amount of movement of the attention point can be calculated based on, for example, the output of an encoder provided in each motor that drives the robot and the tool, or program data that drives and controls the robot and the tool. Furthermore, when a workpiece is gripped by a material handling tool, the amount of movement of the attention point is calculated based on factors such as the size and gripping state of the workpiece.

[0041] The above-described example of the robot simulation device according to the present embodiment can also be implemented as a robot simulation method or a robot simulation program executed by a computer (arithmetic processing device).

[0042] 8 is a flowchart illustrating an example of processing in an embodiment of a robot simulation program according to this embodiment, and illustrates processing in a case where both the example of processing in the embodiment of the robot simulation device 3 according to this embodiment and another example are applied. As shown in FIG. 8, when the example of processing in the embodiment of the robot simulation program according to this embodiment starts (START), in step ST1, the robot and peripheral objects are placed in a virtual space, and the process proceeds to step ST2. That is, in step ST2, three-dimensional data of the robot 1 provided in a real space such as a factory, and peripheral objects such as the robot control device 2, work object 5, and jig 6, are converted into three-dimensional data in the virtual space and placed therein.

[0043] In step ST2, tool attention points are set on the multiple protrusions (12a, 12b) of the tool (the tool attached to the robot 1) 12, and the process proceeds to step ST3 to acquire the start and end points for generating a motion path. Furthermore, the process proceeds to step ST4 to update the position of the tool attention point 12b on the movable part of the tool 12. That is, the position of the tool attention point 12b at the movable part is updated based on the amount of movement of the attention point. The multiple tool attention points set in step ST2 are not limited to the protrusions of the tool, but may also be, for example, rotating parts or protruding parts. Furthermore, all of the tool attention points may be fixed parts, all of the tool attention points may be movable parts, or some of the tool attention points may be fixed parts and the rest may be movable parts. The start and end points acquired in step ST3 are used, for example, to generate a motion path for the robot 1 (tool 12).

[0044] Next, the process proceeds to step ST5, where the direction of movement and the reference tool focus point are determined by random numbers, and the process proceeds to step ST6, where a position (first movement position) is obtained by moving the tool focus point (reference position) a small distance determined by random numbers in the direction determined by the random numbers. Here, the amount of movement by which the tool focus point (reference position) is moved to the first movement position can be calculated, for example, based on the output of an encoder provided on each motor that drives the robot and the tool.

[0045] The process then proceeds to step ST7, where an intermediate point is inserted if the movement path of the robot 1 does not interfere with the surrounding object 6. The process then proceeds to step ST8, where the processes of steps ST5 to ST7 are repeated until the end point is reached, and when the end point is reached, the process of the example of the processing in the embodiment of the robot simulation program according to this embodiment is terminated (END). Note that various known processes can be applied to the process of inserting the intermediate point and the process of generating the movement path.

[0046] The robot simulation program according to the present embodiment described above is executed by an arithmetic processing unit (MPU, CPU, etc.) of the robot simulation device 3. The robot simulation program according to the present embodiment may be provided by being recorded on a computer-readable non-transitory recording medium or non-volatile semiconductor memory, or may be provided via a wired or wireless connection. Examples of the computer-readable non-transitory recording medium include optical disks such as CD-ROMs (Compact Disc Read Only Memory) and DVD-ROMs, and hard disk drives. Examples of the non-volatile semiconductor memory include PROMs (Programmable Read Only Memory) and flash memory. The program may be distributed from a server device via a wired or wireless local area network (LAN) or a wide area network (WAN) such as the Internet.

[0047] As described above in detail, the robot simulation device and robot simulation program according to this embodiment make it possible to easily generate a robot movement path that does not interfere with surrounding objects under various circumstances.

[0048] Although the present disclosure has been described in detail, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible in these embodiments without departing from the gist of the present disclosure or the spirit of the present disclosure derived from the content of the claims and their equivalents. These embodiments can also be implemented in combination. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these. The same applies when numerical values ​​or mathematical expressions are used in the description of the above-described embodiments.

[0049] The following supplementary notes are further disclosed regarding the above-described embodiment and modified examples. [Supplementary Note 1] A robot simulation device (3) for simulating the movement of a robot (1) in a virtual space, comprising: a setting unit (31) for setting attention points at a plurality of locations (12a, 12b, 13a to 13d) on the robot (1); a determination unit (32) for determining a first movement position by moving the robot (1) a predetermined distance, with a first attention point (12a) of the set plurality of attention points (12a, 12b) as a first reference position; an insertion unit (33) for inserting a first intermediate point at a position between the first reference position and the first movement position when the determined first movement position does not cause the robot (1) to interfere with a peripheral object (6) on a path along which the robot (1) moves; and a generation unit (34) for generating a movement path of the robot (1) that does not interfere with the peripheral object (6) by repeatedly inserting intermediate points with the first intermediate point as a second reference position. [Supplementary Note 2] The robot simulation device according to Supplementary Note 1, wherein the setting unit (31) sets tool focus points at a plurality of locations (12a, 12b) on a tool (12) attached to the robot (1). [Supplementary Note 3] The robot simulation device according to Supplementary Note 2, wherein the setting unit (31) sets the tool focus points with respect to protrusions (12a, 12b) on the tool (12). [Supplementary Note 4] The determination unit (32) determines a first tool movement position by moving the tool (12) by a very small distance or very small angle with an upper limit, using a first tool focus point (12a) among the set plurality of tool focus points (12a, 12b) as the first reference position; the insertion unit (33) inserts a first intermediate point at a position between the first reference position and the first movement position when the determined first tool movement position does not cause the robot (1) to interfere with the peripheral object (6) on a path along which the tool (12) moves; and the generation unit (34) generates a movement path of the robot (1) that does not interfere with the peripheral object (6) by repeating the insertion of the intermediate point, using the first intermediate point as the second reference position.[Supplementary Note 5] The robot simulation device according to any one of Supplementary Notes 1 to 4, wherein when the generation unit (34) cannot generate a movement path of the robot (1) that does not interfere with the surrounding object (6) by processing based on the first attention point (12a), the determination unit (32) determines, as the first reference position, a focus point (12a, 12b) determined based on a random number from a plurality of set attention points. [Supplementary Note 6] A robot simulation device that simulates the movement of a robot (1) in a virtual space, comprising: a setting unit (31) that sets a focus point at a movable location of the robot (1); a determination unit (32) that determines a first movement position by moving the robot (1) a predetermined distance, with the focus point (12b) set at the movable location as a first reference position; an insertion unit (33) that inserts a first intermediate point at a position between the first reference position and the first movement position when the determined first movement position does not cause the robot (1) to interfere with a peripheral object (6) on a path along which the robot (1) moves; and a generation unit (34) that generates a movement path for the robot (1) that does not interfere with the peripheral object (6) by repeatedly inserting intermediate points, with the first intermediate point as a second reference position. [Supplementary Note 7] The robot simulation device according to Supplementary Note 6, wherein the determination unit (32) updates the position of the focus point based on the amount of movement of the focus point set at the movable location. [Supplementary Note 8] The robot simulation device according to Supplementary Note 6 or Supplementary Note 7, wherein the setting unit (31) sets a tool focus point (12b) at a movable location on a tool (12) attached to the robot (1). [Supplementary Note 9] The robot simulation device according to Supplementary Note 8, wherein the setting unit (31) sets the tool focus point with respect to a protrusion (12b) on the tool (12). [Supplementary Note 10] The robot simulation device according to any one of Supplementary Notes 1 to 9, wherein the determination unit (32) randomly determines a direction in which to move the robot (1) to the first movement position based on a random number.[Supplementary Note 11] The robot simulation device according to any one of Supplementary Note 1 to Supplementary Note 10, wherein the determination unit (32) randomly determines the movement distance of the robot (1) based on a random number. [Supplementary Note 12] The robot simulation device according to Supplementary Note 11, wherein the determination unit (32) moves the robot (1) by a very small distance or angle with an upper limit set. [Supplementary Note 13] A robot simulation program for simulating the operation of a robot (1) in a virtual space, the robot simulation program causing a processing device to execute the following steps: setting attention points at a plurality of locations (12a, 12b, 13a to 13d) on the robot (1); determining a first movement position by moving the robot (1) by a predetermined distance, with a first attention point (12a) among the set plurality of attention points (12a, 12b) as a first reference position; inserting a first intermediate point at a position between the first reference position and the first movement position when the determined first movement position does not cause the robot (1) to interfere with a peripheral object (6) on a path along which the robot (1) moves; and generating a movement path for the robot (1) that does not interfere with the peripheral object (6) by repeating the insertion of intermediate points, with the first intermediate point as a second reference position. [Supplementary Note 14] A robot simulation program for simulating the operation of a robot (1) in a virtual space, the robot simulation program causing a processing device to execute the following steps: setting a focus point at a movable location on the robot (1); determining a first movement position by moving the robot (1) a predetermined distance using the focus point set at the movable location as a first reference position; inserting a first intermediate point at a position between the first reference position and the first movement position when the determined first movement position does not cause the robot (1) to interfere with a peripheral object (6) on the path along which the robot (1) moves; and generating a movement path for the robot (1) that does not interfere with the peripheral object (6) by repeating the insertion of intermediate points using the first intermediate point as a second reference position.[Supplementary Note 15] The simulation program according to Supplementary Note 14, wherein the determining step includes a step of updating the position of the attention point based on a movement amount of the attention point set at the movable portion.

[0050] REFERENCE SIGNS LIST 1 Robot 2 Robot control device 3 Robot simulation device 5 Work object (workpiece to be welded) 6 Peripheral object (jig) 11 Hand 12 Tool 12A Fixed arm section 12a Fixed side tip tip (projection) 12B Movable arm section 12b Movable side tip tip (projection) 13 Material handling tool 13a to 13d Attention point 31 Setting section 32 Determination section 33 Insertion section 34 Generation section 35 Random number table 61, 62 Barrier 100 Robot system 301 Virtual space section 302 Virtual robot section 303 Tool attention point holding section 304 Tool attention point update section 305 Automatic path generation section 306 Movement direction determination section 307 Tool attention point selection section

Claims

1. A robot simulation device that simulates the operation of a robot in a virtual space, comprising: a setting unit that sets a focus point at a plurality of locations on the robot; a determination unit that determines a first movement position obtained by moving the robot by a predetermined distance with a first focus point among the plurality of set focus points as a first reference position; an insertion unit that inserts a first intermediate point at a position between the first reference position and the first movement position when the determined first movement position does not cause the robot to interfere with surrounding objects on the path along which the robot moves; and a generation unit that generates an operation path of the robot that does not interfere with the surrounding objects by repeatedly inserting intermediate points with the first intermediate point as a second reference position.

2. The robot simulation device according to claim 1, wherein the setting unit sets tool focus points at a plurality of locations on a tool attached to the robot.

3. The robot simulation device according to claim 2, wherein the setting unit sets the tool focus points with respect to protrusions of the tool.

4. The determination unit determines a first tool movement position obtained by moving the tool by a minute distance or a minute angle with an upper limit with a first tool focus point among the plurality of set tool focus points as the first reference position, the insertion unit inserts a first intermediate point at a position between the first reference position and the first movement position when the determined first tool movement position does not cause the robot to interfere with the surrounding objects on the path along which the tool moves, and the generation unit generates an operation path of the robot that does not interfere with the surrounding objects by repeatedly inserting intermediate points with the first intermediate point as the second reference position. The robot simulation device according to claim 2 or claim 3.

5. The determination unit determines, as the first reference position, a focus point determined based on a random number from among the plurality of set focus points when the generation unit cannot generate an operation path of the robot that does not interfere with the surrounding objects by processing based on the first focus point. The robot simulation device according to any one of claims 1 to 4.

6. A robot simulation device that simulates the operation of a robot in a virtual space, comprising: a setting unit that sets a focus point at a movable part of the robot; a determination unit that determines a first movement position obtained by moving the robot by a predetermined distance with the focus point set at the movable part as a first reference position; an insertion unit that inserts a first intermediate point at a position between the first reference position and the first movement position when the determined first movement position does not cause the robot to interfere with surrounding objects on the path along which the robot moves; and a generation unit that generates an operation path of the robot that does not interfere with the surrounding objects by repeatedly inserting intermediate points with the first intermediate point as a second reference position.

7. The robot simulation device according to claim 6, wherein the determination unit updates the position of the focus point based on the amount of movement of the focus point set at the movable part.

8. The robot simulation device according to claim 6 or 7, wherein the setting unit sets a tool focus point at a movable part of a tool attached to the robot.

9. The robot simulation device according to claim 8, wherein the setting unit sets the tool focus point with respect to a protruding part of the tool.

10. The robot simulation device according to any one of claims 1 to 9, wherein the determination unit randomly determines the direction in which the robot moves to the first movement position based on a random number.

11. The robot simulation device according to any one of claims 1 to 10, wherein the determination unit randomly determines the movement distance of the robot based on a random number.

12. The robot simulation device according to claim 11, wherein the determination unit moves the robot by a minute distance or a minute angle with an upper limit set.

13. A robot simulation program for simulating the operation of a robot in a virtual space, which causes an arithmetic processing unit to perform the steps of: setting a focus point at a plurality of locations on the robot; determining a first movement position obtained by moving the robot by a predetermined distance with a first focus point among the plurality of set focus points as a first reference position; inserting a first intermediate point at a position between the first reference position and the first movement position when the determined first movement position does not interfere with surrounding objects on the path along which the robot moves; and generating an operation path of the robot that does not interfere with the surrounding objects by repeating the insertion of intermediate points with the first intermediate point as a second reference position.

14. A robot simulation program for simulating the operation of a robot in a virtual space, which causes an arithmetic processing unit to perform the steps of: setting a focus point at a movable location on the robot; determining a first movement position obtained by moving the robot by a predetermined distance with the focus point set at the movable location as a first reference position; inserting a first intermediate point at a position between the first reference position and the first movement position when the determined first movement position does not interfere with surrounding objects on the path along which the robot moves; and generating an operation path of the robot that does not interfere with the surrounding objects by repeating the insertion of intermediate points with the first intermediate point as a second reference position.

15. The robot simulation program according to claim 14, wherein the determining step updates the position of the focus point based on the amount of movement of the focus point set at the movable location.

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