JPH07200035A - Work program preparation device for robot - Google Patents

Abstract

PURPOSE:To move the motor of a robot at a high speed and to perform positioning by obtaining an interpolatable interpolation point number and an optimum moving speed and automatically generating a work program for which the optimum moving speed is added to respective moving instruction words. CONSTITUTION:A logical interpolation point number N is changed and an actual interpolation point number (n) is actually decided corresponding to the respective logical interpolation point numbers N from the actual position of the robot and an attitude matrix. Then, an optimum interpolation point number Nt for making the logical interpolation point number N be equal to the actual interpolation point number (n) is obtained and the optimum moving speed Vt is computed. The optimum moving speed Vt becomes a corrected moving speed commanded by one moving instruction and is executed to the respective moving instruction words of the work program. Thus, corresponding to the attitude change of a moving route, the ability of the motor of the robot is fully demonstrated and movement at a high speed and the positioning are performed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is intended to generate an operation program capable of moving at maximum speed by making maximum use of the capability of the motor of each axis on a commanded straight line or curve in interpolation movement of a robot. Of equipment.

[0002]

2. Description of the Related Art Conventionally, in movement control in linear interpolation, circular interpolation, etc. of a robot, a movement speed on an operation locus is commanded. The moving speed on the motion locus, for example, the linear moving speed is determined for each robot in consideration of all postures and motor capabilities. Therefore, the maximum linear movement speed is determined on the basis of a change in posture and position such that a motor instantaneously reaches the capacity limit.

[0003]

As described above, since the maximum moving speed of the robot is determined on the assumption of the worst condition, the ability of the motor is not sufficiently exhibited in many cases depending on the taught posture. Therefore, there is a problem that the operation speed of the robot is slowed down as a whole.

The present invention has been made to solve the above-mentioned problems, and its purpose is to make the motor of the robot fully exhibit its ability in accordance with the change in the posture of the moving path.
It is to move at a higher speed and perform positioning.

[0005]

According to a first aspect of the invention, when the motion locus is interpolated, the maximum rotation speed can be obtained without further interpolating the interpolated rotation amount of the motor of each axis of the robot. A device for generating a program for accomplishing the above, which is a storage unit that stores an operation program together with teaching point data, and a constant speed and the number of theoretical interpolation points based on the distance of the movement process to the positioning teaching point of the operation program and the interpolation time interval And the theoretical characteristic calculation means for calculating the relationship with the movement process, and when the movement process is interpolated by the number of theoretical interpolation points, the angular displacement amount between the interpolation points of each axis of the robot between each interpolation point is obtained, and the angular displacement amount is the maximum value. If the value exceeds the maximum value, the interpolation points are further equally divided so that the amount of angular displacement does not exceed the maximum value, and the actual interpolation point number calculating means for calculating the actual interpolation point number in the moving process, and the actual interpolation point Number and the number of theoretical interpolation points are the same. Optimal movement speed calculation means for calculating the optimum movement speed when the movement process is interpolated with the number of interpolation points and each movement command word of the operation program are calculated by the optimum movement speed calculation means. It is an operation program generation device comprising a program conversion means for making a movement command word controlled at a movement speed.

According to a second aspect of the present invention, in the case of interpolating a motion locus, a program for achieving a maximum moving speed in a state where the interpolation rotation amount of the motor of each axis of the robot is further divided and allowed. Which is a device for generating an operation program and a storage means for storing an operation program together with teaching point data, and a relationship between a constant speed and a theoretical interpolation point number from a distance of a movement process to a positioning teaching point of the operation program and an interpolation time interval. When calculating the theoretical characteristic calculation means and the movement process by the number of theoretical interpolation points, the angular displacement amount between the interpolation points of each axis of the robot between each interpolation point is obtained, and if the angular displacement amount exceeds the maximum value, , An actual interpolation point number calculation means for calculating the actual interpolation point number in the moving process by further dividing the interpolation points into equal parts so that the angular displacement amount does not exceed the maximum value, and the actual interpolation with respect to the theoretical interpolation point number. In terms of the number, the minimum actual interpolation point number calculation means for determining the minimum actual interpolation point number, the maximum movement speed calculation means for calculating the maximum movement speed for the minimum actual interpolation point number, and the maximum movement of the operation program for each movement command word. It is an operation program generation device for a robot, which comprises program conversion means for rewriting each maximum movement speed calculated by the speed calculation means into a command word added to a movement command word.

[0007]

According to the first aspect of the present invention, the logical characteristic calculating means calculates the relationship between the constant speed and the theoretical number of interpolation points from the distance of the moving process to the positioning teaching point of the operation program and the interpolation time interval. It Next, when the movement process is interpolated by the number of theoretical interpolation points by the actual interpolation point calculation means, the angular displacement amount between the interpolation points of each axis of the robot between the interpolation points is obtained, and the angular displacement amount is the maximum value. If it exceeds, the actual number of interpolation points in the moving process is calculated by further dividing the interpolation points into equal parts so that the angular displacement amount does not exceed the maximum value. Next, the optimum moving speed calculating means calculates the optimum moving speed when the moving process is interpolated with the number of interpolation points at which the actual number of interpolation points and the number of theoretical interpolation points match. Then, the movement command generation means makes each movement command word of the movement program an instruction word controlled at each optimum movement speed calculated by the optimum movement speed calculation means. In this way, when the movement amount between each interpolation point is converted into the angular displacement amount of each axis,
Without the operation of further dividing the interpolation points so as not to exceed the maximum capacity of the motor, the number of interpolation points that can be interpolated and the optimum movement speed are obtained, and the operation program that adds the optimum movement speed to each movement command word It is automatically generated. Therefore, in the present invention, when moving on the path according to each movement command word, the movement is performed at the maximum possible movement speed in consideration of the posture at that time without exceeding the capacity of the motor,
The work efficiency of the robot is improved.

According to the second aspect of the present invention, the theoretical characteristic calculation means calculates the relationship between the constant speed and the theoretical number of interpolation points from the distance of the movement process to the positioning teaching point of the operation program and the interpolation time interval. When the moving step is interpolated by the above-mentioned theoretical interpolation point number by the actual interpolation point number calculation means, the angular displacement amount between the interpolation points of each axis of the robot between each interpolation point is obtained, and when the angular displacement amount exceeds the maximum value. Calculates the actual number of interpolation points in the moving process by further dividing the interpolation points into equal parts so that the angular displacement amount does not exceed its maximum value. Further, the minimum actual interpolation point number calculating means determines the minimum actual interpolation point number in the relationship between the theoretical interpolation point number and the actual interpolation point number, and the maximum moving speed calculating means calculates the maximum moving speed with respect to the minimum actual interpolation point number. Finally, the program conversion means converts each movement command word of the operation program into a command word controlled at each maximum movement speed.

[0009]

EXAMPLES The present invention will be described below based on specific examples. FIG. 1 is a mechanism diagram showing the mechanism of a 6-axis articulated robot. 10 is the robot body, and the body 10 is on the floor
A base 13 for fixing the column 12 is disposed, a column 12 is fixedly mounted on the base 13, and a body 14 is rotatably disposed in the column 12. The body 14 rotatably supports the upper arm 15, and the upper arm 15 rotatably supports the forearm 16. Body 14,
The upper arm 15 and the forearm 16 are respectively
Servo motors Sm1, Sm2, Sm3 (see Fig. 2)
It is driven to rotate about axes a, b and c. This rotation angle is detected by the encoders E1, E2, E3. A twist wrist 17 is rotatably supported on the tip of the forearm 16 about the d axis, and a bend list 9 is rotatably supported on the twist wrist 17 about the e axis.
A swivel wrist 18 having a flange 18a at its tip is pivotally supported on the bend wrist 9 so as to be rotatable around the f-axis. A hand 19 is attached to the flange 18a. Servomotors Sm4, Sm for d-axis, e-axis, and f-axis
5, driven by Sm6, its rotation angle is encoder E
4, E5, E6. The opening / closing operation of the hand 19 is controlled by the tool driving circuit 23.

FIG. 2 is a block diagram showing the electrical construction of the robot controller of the present invention. CPU2
A memory 25, servo CPUs 22a to 22f for driving a servo motor, an operation panel 26 for issuing an operation start instruction, a jog operation instruction, a teaching point instruction, and the like are connected to 0. The servo motors Sm1 to Sm6 for driving the axes a to f attached to the robot are respectively the servo CPUs 22a to
It is driven by 22f.

Each of the servo CPUs 22a to 22f outputs an angle command value θ ₁ to θ ₁ for each axis output from the CPU 20.
The output torque of the servomotors Sm1 to Sm6 is controlled based on θ ₆ , the moment of inertia D _i , and the gravity torque T _i .
The detection angles α _{1 to} α ₆ output by the encoders E1 to E6 connected to the respective drive shafts are the CPU 20 and the servo CPU 22.
a to 22f, the CPU 20 calculates the moment of inertia and gravity torque of each axis, and the servo CPU 2
It is used for position feedback control, speed feedback control, and current feedback control by 2a to 22f. However, in the present invention, the calculation of the inertia moment D _i and the gravity torque T _i is not always necessary.

The memory 25 stores a program P for operating the robot in accordance with the teaching point data.
A region A, a PDA region for storing teaching point data representing the position and posture of the hand 19, an SDA region for storing an acceleration (deceleration) command value and a target velocity, and a program storage for generating a modified operation program. The INA area and the encoder E for storing the angle command values θ _{1 to} θ ₆ of each axis at the interpolation point obtained by the interpolation calculation
1 to E6 and an ANG region for storing the detected angles α _{1 to} α ₆ are formed.

Next, the operation of this apparatus will be described. FIG. 4 shows an operation program stored in the PA area of the RAM 25. With this operation program, the tip of the robot hand is at points W (0), W (1), W (2), W (1), W (0), W (3),
Move with W (0). This apparatus corrects the operation program shown in FIG. 4 into the operation program shown in FIG.

In the operation program shown in FIG. 4, since the movement speed of 100% is designated in block 001, the movement speed on the movement locus is the maximum linear movement speed a defined by the robot. The MOVES command specified in block 002 and below is a linear interpolation command, and the robot is gradually accelerated at a predetermined acceleration α to increase the maximum linear movement speed a of the robot.
Positioning at the teaching point is carried out in a moving process in which the object is moved by and is gradually accelerated at a predetermined deceleration-α. In the present invention, the optimum number of interpolation points and moving speed are calculated in the case of moving from the stopped state by the MOVES command word to enter the stopped state. And in the case of actually operating at the moving speed obtained corresponding to each MOVES command word,
When the MOVES command words are continuous, instead of completely stopping at the teaching point on the way, the movement is completed with the above interpolation points by the distance to the teaching point specified by each MOVES command word, and the next For the speed specified by the MOVES command,
Slow deceleration The time of gradual deceleration and gradual acceleration is determined so that the gradual deceleration is performed.

Next, the principle of calculation of the moving speed by this device will be described. 1) When the subdivision of interpolation of each axis is prohibited and movement is performed in the minimum time (Claim 1) 1-1 (Theoretical characteristic calculation means) Slow acceleration, constant speed, slow deceleration from the teaching point in the current stopped state The case of positioning to the next target teaching point through the moving step of will be described. In this case, the interpolation calculation is executed at fixed time intervals Δt, the gradual acceleration is α, the gradual deceleration is −α, the constant speed is V, the movement distance is S, and the number of interpolation points is N.
The number N of interpolation points when the motion locus is divided at intervals of Δt is called the theoretical number of interpolation points.

FIG. 3 is a characteristic diagram showing the moving process in terms of the moving speed V and the time t or the theoretical interpolation point number N. Figure 3
In, the moving process in the case of moving the fixed distance S in the minimum time T ₀ is represented by a triangle OAB. At this time, the theoretical interpolation point number N ₀ has a minimum value, and the moving speed V ₀ has a maximum value. When the theoretical interpolation point number N is increased by one from the minimum value N ₀ , the movement process becomes a trapezoidal shape in which the movement at the constant speed V continues for a while. The areas of these trapezoidal shapes all have a constant value S.

First, the minimum value T _{0 of the} time T required for the moving process is set.
And the maximum value V ₀ of the moving speed is calculated by the following equation.

[Equation 1] S = V ₀ · T _0/2

[Number 2] _{V 0 = α · T 0/} 2 Thus,

## EQU3 ## T ₀ = 2 (S / α) ^1/2

The minimum number of interpolation points N ₀ is

Equation 4] _{N 0 = int (T 0 /} Δt) where, int is an integer value obtained by rounding up the decimal point. Also, moving step Xu acceleration at time 0 to t _a, the time t _a ~t _b
In a constant velocity V, and the case of the trapezoidal shape gradually decelerated at time t _b through T is, t _a, t _b, V is given by the following equation.

[0019]

Equation 5] t _a = ^{[αT - {(αT) 2 -4αS} } 1/2 ] / 2.alpha

T _b = [αT + {(αT) ² -4αS} ^1/2 ] / 2α

Equation 7] V = ^{[αT - {(αT) 2 -4αS} } 1/2 ] / 2

Here, by substituting T = NΔt into Equation 7,

[Formula 8] V = [αN · Δt-{(αN · Δt) ² -4α
S} ^1/2 ] / 2, and the relationship between the moving speed V and the number of interpolation points N is obtained.

The characteristic of FIG. 3 shows the relationship of the eight expressions. That is, as the number of interpolation points N increases, the moving speed decreases.

1-2 (Actual interpolation point number calculation means) Next, the moving speed V when the interpolation point number N is increased by one from the minimum value N ₀ is calculated. Then, with respect to each interpolation point number N, the motion locus is interpolated with the point number N, and the position and orientation matrix in world coordinates of each interpolation point is calculated. next,
The position and orientation matrix of each interpolation point is inversely transformed into joint coordinates, and the amount of angular displacement Δ between the interpolation points of each axis i of the robot Δ
Calculate e _i . Δe _i / Δt is the rotation speed of the i-axis. Therefore, there is a limit to the angle that can be rotated in the interpolation cycle Δt due to the capability of the motor, and the value is defined as Δe _imax .

When Δe _i / Δe _imax > 1, it means that the i-axis cannot rotate by the interpolation displacement amount Δe _i during the interpolation cycle Δt. Therefore, in this case, the interpolation points on the motion locus are further divided by k = int (Δe _i / Δe _imax ), and the displacement amount of each axis is Δe _i / k between the divided interpolation points. Becomes In this way, when the interpolated displacement amount of each axis between the interpolated points on the motion locus exceeds the maximum rotation capability of each axis, the interpolated points are further divided, and the number of interpolated points of the entire movement process is eventually increased. Is larger than the theoretical interpolation point number N. This increased number of interpolation points is called the actual number of interpolation points n.

1-3 (Optimum moving speed calculation means) As described above, the actual number of interpolation points changes depending on the position and orientation of the robot. Re-division of interpolation is performed between the interpolation points where the posture changes greatly. Therefore, the actual interpolation point number n cannot be uniquely determined from the moving process of FIG. In this way, by changing the theoretical interpolation point number N,
The actual interpolation point number n is actually determined from the actual position and orientation matrix corresponding to each theoretical interpolation point number N. Then, the optimum interpolation point number N _t is determined so that the theoretical interpolation point number N = the actual interpolation point number n. When the motion locus is interpolated with the optimum number of interpolation points N _t , this means that the interpolation displacement amount of each axis does not exceed the maximum possible displacement amount, and it is not necessary to subdivide the interpolation. Therefore, the optimum number of interpolation points N _t is the minimum value at which the interpolation displacement amount of each axis can be interpolated without exceeding the maximum possible displacement amount, that is, the number of interpolation points at which the moving process is completed in the minimum time. Next, the optimum number of interpolation points N _t is substituted into N of the equation 8 to calculate the optimum moving speed V _t .

1-4 (Program conversion means) This optimum moving speed V _t becomes a corrected moving speed instructed by one moving command word. The calculation for obtaining the optimum moving speed V _t is executed for each moving command word of the operation program shown in FIG. Then, each movement command word of the operation program shown in FIG. 4 has an optimum movement speed V as shown in FIG.
_t is added, and the movement command word MOVES indicates its optimum movement speed V _t.
It is rewritten to the command word FMOVES to move the path on the motion locus.

In this way, all movement loci are commanded to move at a moving speed of 100% full speed.
In consideration of the position and orientation depending on each motion locus, the motion program of Fig. 5 does not exceed the maximum possible displacement amount of the angular displacement amount between the interpolation points of each axis, and the movement is performed in the minimum time. It is rewritten to the operation program shown.

1-5 (Experimental Results) FIG. 7 shows the relationship between the rotation speeds of the first axis, the second axis and the third axis and the elapsed time when the robot is operated by the operation program shown in FIG. Show. The movement corresponding to the six linear interpolation command words MOVES is being executed. However, the horizontal axis of the experimental results in FIGS. 7, 8 and 9 indicates 500 ms per unit.

FIG. 8 shows the relationship between the rotation speeds of the first axis, the second axis and the third axis and the elapsed time when the robot is operated by the modified operation program shown in FIG. It can be seen that the speed is improved in each axis as compared with FIG. 7 without subdivision between interpolation points. The time required for positioning from teaching point W (0) to W (0) after the series of operations of the operation program of FIG. 4 is completed is 12.292 sec. With the modified operation program of FIG. 5, the elapsed time of the same path is 6.888sec, the difference is 5.
It was 404 seconds. The speed-up rate is 44%.

2) When the subdivision of the interpolation of each axis is allowed and the movement is performed in the minimum time (claim 2) 2-1 (theoretical characteristic calculation means) 2-1 (theoretical characteristic calculation means) The same theory as the theoretical characteristic calculation means Then, the relationship between the theoretical interpolation characteristic N and the moving speed V is calculated.

2-2 (Actual interpolation point number calculation means) Same as the actual interpolation point number calculation means described in 1-1, the theoretical interpolation point number N is changed for each movement command word, and the actual interpolation point number n is changed. Is calculated.

2-3 (Minimum Actual Interpolation Point Number Calculation Means) In the actual interpolation point number calculation means, the actual interpolation point number n is calculated by changing the theoretical interpolation point number N. Then, the minimum value n _L at this time is determined. That is, in this case, when the angular displacement amount between the interpolation points of each axis exceeds the maximum possible displacement amount, the minimum number of interpolation points n _L is determined while permitting subdivision between the interpolation points. is there. Therefore, although the movement locus may not be guaranteed accurately, it is possible to perform positioning in a minimum time by interpolating the movement locus with the minimum number of interpolation points n _L.

2-4 (Maximum moving speed calculating means) By substituting the minimum number of interpolation points n _L calculated by the above-mentioned minimum actual interpolation point calculating means into N in the equation 8, the maximum moving speed V _H
Is calculated.

2-5 (Program conversion means) This maximum moving speed V _H becomes a corrected moving speed commanded by one moving command. The above calculation for obtaining the maximum moving speed V _H is executed for each moving command word of the operation program shown in FIG. Then, each movement command word of the operation program shown in FIG. 4 is attached with the maximum movement speed V _{H as} shown in FIG. 10, and the movement instruction word MOVES is the maximum movement speed V _H.
It is rewritten to the command word FMOVES that moves the path on the motion locus with _H.

In this way, all movement loci are commanded to move at a moving speed of 100% full speed.
The operation program of moves in the minimum time after allowing subdivision when the amount of angular displacement between interpolation points of each axis exceeds the maximum possible displacement considering the position and orientation depending on each motion locus. It is rewritten into the operation program shown in FIG.

2-6 (Experimental Results) The relationship between the rotation speeds of the first axis, the second axis and the third axis and the elapsed time when the robot is operated by the modified operation program shown in FIG. It shows in FIG. It can be seen that the interpolation points are subdivided on the 2nd and 3rd axes. Figure 10
In the modified operation program of 4, the elapsed time of the same route is 4.
It was 396 seconds, and the difference was 7.896 seconds. The speedup rate is
It is 64.2%.

As described above, in both methods, the movement time of the movement locus becomes short. In the first method, since the interpolation points of each axis are not subdivided, changes in the position and orientation on the motion locus are smooth, and movement in a minimum time is possible. Further, in the second method, since the subdivision of the interpolation points of each axis is allowed, the smooth difference of the change of the position and the posture on the motion locus is obstructed, but the ability of the motor of each axis of the robot is maximized. It is possible to move at the maximum speed possible in the state where it is exhibited to the limit.

Further, the operation program shown in FIG. 4 may be configured to selectively set the moving speed by the first method and the moving speed by the second method in units of each moving command word.

The processing procedure of the program for executing the above processing is shown in FIG. In step 100,
The above-mentioned theoretical interpolation point number N is the minimum value N ₀ obtained by the equation 4.
Is set to. Further, the minimum number of interpolation points n _L is initialized to ∞, and the maximum moving speed V _H is initialized to 0. In step 102,
Eighth equations showing the relationship between the theoretical interpolation point number N and the moving speed V are obtained by the above 1-1, 2-1 theoretical characteristic calculation means. Then, the moving speed V at the theoretical interpolation point number N is calculated.

Next, in step 104, the above-mentioned 1-
The actual interpolation point number n corresponding to the theoretical interpolation point number N is calculated by 2, 2-2 actual interpolation point number calculating means. Next, in step 106, the actual interpolation point number n is compared with the minimum interpolation point number n _{L. If} the actual interpolation point number n is smaller than the minimum interpolation point number n _L , in step 108, the actual interpolation point number n is newly set. The minimum number of interpolation points is n _L, and the moving speed V at that time is set to the maximum moving speed V _H. By this processing, the minimum number of interpolation points n _L and the maximum moving speed V _H by the second interpolation method are determined.

Next, it is judged whether or not the actual interpolation point number n is equal to the theoretical interpolation point number N, and if not, step 11
Shifts to 8 with respect to the moving velocity V corresponding to the theoretical interpolation points _{N, V ≦ βV R (V} R is the maximum moving speed limit of the robot, β ≦ 1) is determined whether is satisfied. In this determination, when the theoretical interpolation point number N is increased by 1 and the actual interpolation point number n is calculated to obtain the interpolation point number N _t where N = n,
It is used to terminate the serial operation. That is, V ≦ βV
_{If R} is satisfied, it is determined that there is no interpolation point with N = n.

[0041] If V ≦ .beta.v conditions _R is satisfied, in step 124, the theoretical interpolation points N is incremented by 1,
Returning to step 102, the moving speed V with respect to the theoretical interpolation point number N is calculated using the equation (8). Hereinafter, similar processing is repeatedly executed.

When N = n holds in step 110,
The number of interpolation points is set as the optimum number of interpolation points N _t, and step 11
In 2 the type of interpolation operation is determined. In the case of interpolation by the above-mentioned first method (TYPE = 1), in step 114, the motion locus corresponding to one command word is the optimum interpolation point number N _t.
The moving speed V at that time, that is, the optimum moving speed V _t is determined as the moving speed of the command. When the second method (TYPE = 2) is used for interpolation, in step 116, the maximum moving speed V _H is determined as the moving speed of the command word. If the determination result of step 118 is Yes, step 11 is performed in step 120.
Similar to 2, the interpolation type is determined.

[0043] In the case of interpolation in the first method, the maximum limit movement velocity V _R of the robot and the moving speed of the instruction word. However, in this case, the interpolation points of each axis are redivided. In the case of interpolation by the second method, the maximum moving speed V _H is determined as the moving speed of the command in step 116. Then, in step 126, the movement speed calculated above is added to the command word, and the operation program shown in FIG. 4 can be rewritten to the operation program shown in FIG. 5 or 10.

[0044]

[Brief description of drawings]

FIG. 1 is a configuration diagram showing a robot used in an apparatus according to a specific embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of a robot control device.

FIG. 3 is a characteristic diagram showing the relationship between the theoretical number of interpolation points and the moving speed in the operation process.

FIG. 4 is an explanatory diagram showing an operation program and instruction data for instructing the operation of the robot before correction.

FIG. 5 is an explanatory diagram showing an operation program rewritten by the first method that does not perform redivision between interpolation points of each axis.

FIG. 6 is a flowchart showing a processing procedure by a CPU for rewriting an operation program.

7 is a characteristic diagram showing the relationship between the rotation speed of each axis and time when the robot is driven by the operation program before correction shown in FIG.

FIG. 8 is a characteristic diagram showing the relationship between the rotation speed of each axis and time when the robot is driven by the operation program rewritten by the first method without performing the redivision between the interpolation points of each axis.

FIG. 9 is a characteristic diagram showing the relationship between the rotational speed of each axis and time when the robot is driven by the operation program rewritten by the second method that allows subdivision between interpolation points of each axis.

FIG. 10 is an explanatory diagram showing an operation program rewritten by the second method that allows subdivision between interpolation points of each axis.

[Explanation of symbols]

10 ... Robot 18 ... Swivel list 18a ... Flange 19 ... Hand 20 ... CPU (theoretical characteristic calculation means, actual interpolation point number calculation means, optimum movement speed calculation means, program conversion means, minimum real interpolation point number calculation means, maximum movement speed calculation means ) 22a to 22f ... Servo CPU 25 ... RAM (storage means) Step 102 ... Theoretical characteristic calculation means Step 104 ... Actual interpolation point number calculation means Steps 110, 102, 114 ... Optimal moving speed calculation means Steps 106, 108 ... Minimum actual interpolation point number Calculation means Steps 106, 108, 116, 102 ... Maximum movement speed calculation means

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification number Internal reference number FI technical indication location G05B 19/4103 (72) Inventor Fumihiko Komuro 1 Toyota-cho, Toyota-shi, Aichi Toyota Motor Co., Ltd. (72) Inventor Katsuhisa Tanaka 1 Toyota Town, Toyota City, Aichi Prefecture, Toyota Motor Corporation (72) Inventor Takeshi Yamamoto 1 Toyota Town, Toyota City, Aichi Prefecture Toyota Motor Corporation (72) Inventor, Tomoyuki Ohtake Aichi 1 Toyota Town, Toyota City, Japan Toyota Motor Co., Ltd.

Claims (2)

[Claims] 1. In a moving step of gradually accelerating, constant velocity, and gradually decelerating along an operation locus of a commanded straight line, arc, etc., interpolation calculation is performed at constant time intervals to reach a commanded teaching point. In an apparatus for generating an operation program including a movement command word for instructing positioning, a storage unit that stores the operation program together with teaching point data, a distance of the movement step to a positioning teaching point of the operation program, and an interpolation time interval. From the theoretical characteristic calculation means for calculating the relationship between the constant speed and the theoretical number of interpolation points, the amount of angular displacement between the interpolation points of each axis of the robot between each interpolation point when the moving step is interpolated by the number of theoretical interpolation points. If the angular displacement amount exceeds the maximum value, the interpolation points are further equally divided so that the angular displacement amount does not exceed the maximum value. An actual interpolation point number calculating means for calculating an actual interpolation point number, and an optimum moving speed calculating means for calculating an optimum moving speed when the moving step is interpolated by the interpolation point number at which the actual interpolation point number and the theoretical interpolation point number match, An operation program generation device for a robot, comprising: program conversion means for converting each movement command word of the operation program into the movement command word for controlling at each optimum movement speed calculated by the optimum movement speed calculation means. 2. In a moving step of gradually accelerating, constant velocity, and gradually decelerating along an operation locus such as a commanded straight line, arc, etc., interpolation calculation is performed at fixed time intervals to reach a commanded teaching point. In an apparatus for generating an operation program including a movement command word for instructing positioning, a storage unit that stores the operation program together with teaching point data, a distance of the movement step to a positioning teaching point of the operation program, and an interpolation time interval. From the theoretical characteristic calculation means for calculating the relationship between the constant speed and the theoretical number of interpolation points, the amount of angular displacement between the interpolation points of each axis of the robot between each interpolation point when the moving step is interpolated by the number of theoretical interpolation points. If the angular displacement amount exceeds the maximum value, the interpolation points are further equally divided so that the angular displacement amount does not exceed the maximum value. An actual interpolation point number calculating means for calculating an actual interpolation point number, a minimum actual interpolation point number calculating means for determining a minimum actual interpolation point number in the relation of the actual interpolation point number to the theoretical interpolation point number, and a maximum movement for the minimum actual interpolation point number. From maximum movement speed calculation means for calculating speed, and program conversion means for making each movement command word of the operation program the movement command word for controlling at each maximum movement speed calculated by the maximum movement speed calculation means. Motion robot program generator.