JP2019111588A - Robot system, information processor, and program - Google Patents

Abstract

To provide a robot system which can cause a robot control device to change a position where a robot grips an object to be gripped without changing an operation program.SOLUTION: A robot system comprises: a robot; a robot control device controlling the robot; an information processor connected to the robot control device via a line. The information processor is the information processor connected to the robot control device for controlling the robot via the line, and outputs gripping information to which an operation program of the robot control device operating the robot on the basis of the operation program refers to the robot control device via the line. The gripping information includes information indicating a relative position between an object to be gripped being the object gripped by the robot and an end effector mounted onto the robot.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a robot system, an information processing apparatus, and a program.

  For robot control devices that control robots, research and development have been conducted on techniques for teaching (storing) various types of information used by the robot control devices when performing robot control.

  In this regard, there is known a robot motion teaching support device that includes a simulator connected to a robot controller that controls the motion of the robot according to the motion program, and displaying the motion posture of the robot on a screen. Reference 1).

JP, 2013-136123, A

  However, in such a robot operation teaching support device, the user can not change the operation of the robot without changing the operation program. That is, in the robot operation teaching support device, when it is necessary to change the operation of the robot in accordance with the operation to be performed by the robot, the user has to change the operation program each time the operation is changed. As a result, it has been difficult in some cases for the robot motion teaching support device to improve the efficiency of causing the robot to perform work.

One aspect of the present invention is a robot system including a robot, a robot control device for controlling the robot, and an information processing device connected to the robot control device via a line. The information processing apparatus is an information processing apparatus connected via a line to a robot control apparatus that controls a robot, and is referred to by the operation program of the robot control apparatus that operates the robot based on an operation program. Holding information is output to the robot control device via the line, and the holding information is a relative relation between a holding object which is an object to be held by the robot and an end effector mounted on the robot A robot system including information indicating the position of the vehicle.
Thus, the robot system can cause the robot control device to change the position at which the robot grips the gripping target without changing the operation program.

Further, according to another aspect of the present invention, in the robot system, the information processing apparatus outputs the grip information to the robot control apparatus via the line, and updates the grip information stored in the robot control apparatus. The configuration may be used.
Thereby, the robot system can cause the robot control device to control the robot based on the updated gripping information without changing the operation program.

Further, according to another aspect of the present invention, in the robot system, the information processing apparatus acquires operation information indicating an operation of the robot based on the operation program and the grip information, and corresponds to the acquired operation information. Configurations that display images may be used.
As a result, the robot system can confirm the operation that the robot control device causes the robot to perform based on the operation program and the gripping information before operating the robot.

Further, according to another aspect of the present invention, in the robot system, the information processing device is a position of an object located around the robot and information indicating a position detected by the robot control device and the object The information in which the information indicating the object is associated is acquired from the robot control device, and the acquired information indicating the position and the information indicating the object are based on the object information which is the information on the object stored in advance. A configuration may be used to display an image indicating the relative positional relationship between the object and the robot.
Thereby, the robot system can confirm the position in the robot coordinate system of the object located around the robot among the positions set in the robot control device before the robot is operated.

Further, according to another aspect of the present invention, in the robot system, a configuration is used in which the gripping information includes information indicating a relative posture between the gripping target and an end effector mounted on the robot. May be
As a result, the robot system does not change the operation program of the robot without changing the operation program based on the gripping information including the information indicating the relative position and posture of the object and the end effector mounted on the robot. The motion of the robot gripping the object can be changed to a desired motion.

Further, according to another aspect of the present invention, in the robot system, the grip information may include information indicating an open / close amount of a finger provided on an end effector mounted on the robot.
As a result, the robot system does not change the operation program based on the gripping information including the information indicating the opening / closing amount of the finger portion of the end effector mounted on the robot, and the robot is the target object without changing the operation program. The action of gripping the can be changed to the desired action.

Further, in another aspect of the present invention, in the robot system, a relative position between a portion representing the position and posture of the object to be gripped and a portion designated by the portion of the object to be gripped in the grip information. A configuration may be used that includes information indicating the posture and the posture.
Thus, the robot system operates based on gripping information including information indicating the relative position and orientation of the part indicating the position and orientation of the object to be grasped and the designated part of the region possessed by the object to be grasped. Among the motions of the robot, the motion of the robot gripping the object can be changed to a desired motion without changing the program.

  Another aspect of the present invention is an information processing apparatus connected to a robot control apparatus for controlling a robot through a line, the operation program of the robot control apparatus operating the robot based on an operation program. Holding information to be referred to by the robot controller via the line, and the holding information includes a holding target which is an object to be held by the robot and an end effector mounted on the robot An information processing apparatus including information indicating a relative position. Thus, the information processing apparatus can cause the robot control apparatus to change the position at which the robot grips the grip target without changing the operation program.

  Further, according to another aspect of the present invention, there is provided an operating program of the robot control apparatus for operating the robot based on an operating program in a computer of an information processing apparatus connected via a line to a robot control apparatus controlling a robot. A program for causing the robot control device to output gripping information referred to by the robot control device via the line, and the gripping information includes a gripping target which is an object to be gripped by the robot and the robot mounted on the robot It is a program that includes information indicating the relative position with the end effector. Thus, the program can cause the robot control device to change the position at which the robot grips the gripping target without changing the operation program.

  Another aspect of the present invention is an information processing apparatus connected via a line to a robot control apparatus for controlling a robot, comprising: a processor, wherein the processor operates the robot based on an operation program Holding information referred to by the operation program of the robot control device is output to the robot control device via the line, and the holding information is a holding object which is an object to be held by the robot, and the robot An information processing apparatus including information indicating the relative position of the end effector mounted on the. Thus, the information processing apparatus can cause the robot control apparatus to change the position at which the robot grips the grip target without changing the operation program.

It is a figure showing an example of composition of robot system 1 concerning an embodiment. FIG. 2 is a diagram illustrating an example of a hardware configuration of an information processing device 30. FIG. 2 is a diagram illustrating an example of a hardware configuration of a robot control device 40. FIG. 3 is a diagram showing an example of functional configurations of an information processing device 30 and a robot control device 40. It is a figure which shows an example of the flow of the information edit process which the information processing apparatus 30 performs. It is a figure which shows an example of an object information edit image. It is a figure which shows an example of object information. It is a figure which shows an example of a holding | grip information edit image. It is a figure which shows an example of holding information. It is a figure which shows an example of the flow of the information generation process which the robot control apparatus 40 performs. It is a figure which shows an example of the flow of the information display process which the information processing apparatus 30 performs. It is a figure which shows an example of the image according to surrounding object information. It is a figure which shows an example of the image according to route information. It is a block diagram which shows an example of the robot system 1 which concerns on the modification of embodiment.

Embodiment
Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<Overview of Robot System>
First, an overview of a robot system in the present embodiment will be described.

  The robot system includes a robot, a robot control device that controls the robot, and an information processing device connected to the robot control device via a line. Further, the information processing apparatus outputs gripping information referred to by the operation program of the robot control apparatus for operating the robot based on the operation program to the robot control apparatus via the line. The gripping information also includes information indicating the relative position between a gripping target, which is an object to be gripped by the robot, and an end effector mounted on the robot. Thus, the robot system can cause the robot control device to change the position at which the robot grips the gripping target without changing the operation program. Further, thereby, in the robot system, even in the offline state where the robot control device and the robot are not communicably connected, the information processing device outputs the gripping information to the robot control device via the line. can do.

  The configuration of the robot system and the processing performed by the robot system will be described in detail below.

<Configuration of robot system>
Hereinafter, the configuration of a robot system 1 which is an example of the above-described robot system will be described with reference to FIG.

  FIG. 1 is a diagram showing an example of the configuration of a robot system 1 according to an embodiment. The robot system 1 includes a robot 20 and an information processing apparatus 30. Also, the robot 20 incorporates a robot control device 40. The robot 20 is an example of the aforementioned robot. The robot system 1 may not include the information processing device 30. The robot 20 may be configured to be controlled by the robot control device 40 installed outside, instead of the configuration in which the robot control device 40 is incorporated. In this case, the robot system 1 includes a robot 20 and a robot control device 40. The robot system 1 may be configured to include another device such as an imaging unit separate from the robot 20 in addition to both the robot 20 and the information processing device 30.

  Here, for convenience of explanation, the positive direction of the Z axis in the robot coordinate system RC shown in FIG. 1 will be referred to as upward or upward, and the negative direction of the Z axis will be hereinafter referred to as downward or downward. The robot coordinate system RC is a robot coordinate system of the robot 20. In the following, as an example, the case where the negative direction of the Z axis in the robot coordinate system RC matches the direction of gravity will be described. Note that the negative direction and the gravity direction may not be identical to each other.

  The robot 20 includes a first arm A1, a second arm A2, a support base B for supporting the first arm A1 and the second arm A2, and a robot control device 40 provided inside the support base B. It is an arm robot. The robot 20 may be a double arm robot including three or more arms instead of the double arm robot, or may be a single arm robot including one arm. The robot 20 may be another robot such as a scalar (horizontal articulated) robot, an orthogonal coordinate robot, or a cylindrical robot. The orthogonal coordinate robot is, for example, a gantry robot.

  The support base B is divided into two parts along a direction orthogonal to the surface when the robot 20 is installed on the surface. In the following, for convenience of explanation, the surface on which the robot 20 is installed is referred to as an installation surface. Also, in the following, as an example, the installation plane is parallel to the XY plane which is a plane spanned by the X axis and Y axis in the robot coordinate system RC shown in FIG. 1, that is, orthogonal to the Z axis in the robot coordinate system RC. Will be described. The installation surface may not be parallel to the XY plane, that is, not orthogonal to the Z axis. Moreover, the support stand B may be the structure which is not divided | segmented, and the structure divided | segmented into three or more parts may be sufficient as it. Of the two parts, the part far from the installation surface is pivotable with respect to the part of the two parts closer to the installation surface. The rotation surface in the case where the distant part is rotated is, for example, parallel to the installation surface. In addition, the said rotation surface may be non-parallel with respect to an installation surface.

  The first arm A1 includes a first end effector E1, a first manipulator M1, and a first force detector S1.

  The first end effector E1 is an end effector that holds an object. In this example, the first end effector E1 includes a finger, and holds the object by holding the object by the finger. Alternatively, instead of the first end effector E1, the first end effector E1 may be configured to hold the object by lifting the object by suction of air, magnetic force, another jig or the like. Note that, in this example, holding means that the state of the object can be lifted.

  The first manipulator M1 includes seven joints and a first imaging unit C1. Each of the seven joints is provided with an actuator (not shown). That is, the first arm A1 including the first manipulator M1 is a seven-axis vertical articulated arm. The first arm A1 performs seven axes of freedom by cooperative operations of the support base B, the first end effector E1, the first manipulator M1, and the actuators of the seven joints. The first arm A1 may operate with six or less axes of freedom or may operate with eight or more axes of freedom.

  When the first arm A1 operates with seven axes of freedom, the first arm A1 has more postures that can be taken as compared with the case of operating with six or less axes of freedom. As a result, for example, the first arm A1 becomes smooth in operation, and interference with an object present around the first arm A1 can be easily avoided. In addition, when the first arm A1 operates with seven axes of freedom, the control of the first arm A1 requires less calculation amount and is easier as compared to the case where the first arm A1 operates with eight or more axes of freedom is there.

  The first imaging unit C1 is, for example, a camera provided with a charge coupled device (CCD), a complementary metal oxide semiconductor (CMOS), or the like as an imaging element for converting collected light into an electric signal. In this example, the first imaging unit C1 is provided in a part of the first manipulator M1. For this reason, the first imaging unit C1 moves in accordance with the movement of the first manipulator M1. That is, the range in which the first imaging unit C1 can capture an image changes according to the movement of the first arm A1.

  The first force detection unit S1 is provided between the first end effector E1 and the first manipulator M1. The first force detection unit S1 is, for example, a force sensor. The first force detection unit S1 detects an external force acting on the first end effector E1 or an external force acting on an object held by the first end effector E1. The first force detection unit S1 may be a torque sensor that detects an external force acting on the first end effector E1 or an external force acting on an object held by the first end effector E1.

  The second arm A2 has a configuration similar to that of the first arm A1. That is, the second end effector E2 has the same configuration as that of the first end effector E1. The second manipulator M2 has the same configuration as that of the first manipulator M1. The second manipulator M2 also includes a second imaging unit C2. The second imaging unit C2 has the same configuration as the configuration of the first imaging unit C1. The second force detection unit S2 has the same configuration as the configuration of the first force detection unit S1.

  The second arm A2 may have a configuration different from that of the first arm A1. That is, the second end effector E2 may have a configuration different from that of the first end effector E1. In addition, the second manipulator M2 may have a configuration different from that of the first manipulator M1. The second imaging unit C2 may have a configuration different from that of the first imaging unit C1. Further, the second force detection unit S2 may have a configuration different from the configuration of the first force detection unit S1.

  The robot 20 also includes a third imaging unit C3 and a fourth imaging unit C4.

  The third imaging unit C3 is, for example, a camera provided with a CCD, a CMOS, or the like as an imaging device for converting the collected light into an electric signal. The third imaging unit C3 includes a range in which the fourth imaging unit C4 can perform imaging along with the fourth imaging unit C4 in a region that can perform stereo imaging.

  The fourth imaging unit C4 is, for example, a camera provided with a CCD, a CMOS, or the like as an imaging device that converts the collected light into an electrical signal. The fourth imaging unit C4 includes a range in which the third imaging unit C3 can perform imaging along with the third imaging unit C3 in a portion that can perform stereo imaging.

  The functional units included in the robot 20 described above (that is, the first end effector E1, the second end effector E2, the first manipulator M1, the second manipulator M2, the first imaging unit C1 to the fourth imaging unit C4, the first Each of the force detection unit S1 and the second force detection unit S2) is communicably connected to the robot control device 40 by a cable. Thus, each of the functional units performs an operation based on the control signal acquired from the robot control device 40. Wired communication via a cable is performed according to a standard such as Ethernet (registered trademark) or USB (Universal Serial Bus), for example. In addition, a part or all of the functional units may be connected to the robot control device 40 by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark). The robot 20 may not have a part or all of the first imaging unit C1, the second imaging unit C2, the third imaging unit C3, and the fourth imaging unit C4.

  The robot control device 40 controls the robot 20. Here, as an example, a case where the control method of the first arm A1 by the robot control device 40 and the control method of the second arm A2 by the robot control device 40 are the same method will be described. Therefore, the control of the robot 20 by the robot control device 40 will be described below by taking the control method of the first arm by the robot control device 40 as an example. The control method of the first arm A1 by the robot control device 40 and the control method of the second arm A2 by the robot control device 40 may have configurations that are partially or entirely different from each other.

  The robot control device 40 sets the control point T1 to a predetermined portion of the first arm A1. The control point T1 is a virtual point that moves with the site. For example, the control point T1 is a TCP (Tool Center Point) for the first arm A1. The control point T1 may be another virtual point that moves with the site, instead of the TCP. The predetermined site is, for example, the center of gravity of the first end effector E1. That is, the control point T1 moves with the first end effector E1. In addition, the predetermined part may be another part corresponding to the first arm A1 instead of the center of gravity. The control point T2 shown in FIG. 1 indicates the TCP set by the robot control device 40 at a predetermined site of the second arm A2.

  A control point coordinate system, which is a three-dimensional orthogonal coordinate system moving with the control point T1, is associated with the control point T1. The position of the control point T1 is represented by the position in the robot coordinate system RC of the origin of the control point coordinate system. Further, the attitude of the control point T1 is represented by the direction in the robot coordinate system RC of each coordinate axis in the control point coordinate system. Here, hereinafter, as an example, a case where the position and the attitude of the control point T1 represent the position and the attitude of the first end effector E1 will be described. The position and the attitude of the control point T1 may not be the position and the attitude of the first end effector E1.

  The robot control device 40 generates peripheral object information based on object information stored in advance by the user via the information processing device 30 described later and object position and orientation information stored in advance. Further, the robot control device 40 generates a route based on each of the operation program, teaching point information, object information, and grip information stored in advance by the user via the information processing device 30, and the generated peripheral object information. The robot control device 40 operates the first arm A1 so that the control point T1 moves along the generated path. The object position and orientation information may be stored in advance by the user via the information processing device 30, together with the operation program, the teaching point information, the object information, and the grip information.

  Here, object information is information about an object. In this example, the object is an object located around the robot 20 (for example, a gripping target that is an object griped by the robot 20, an obstacle that is an obstacle that is an obstacle in the operation of the robot 20, a conductive used by the robot 20 in work) It is a virtual object having a shape and a size according to a tool such as a driver. An object is a virtual object generated by the information processing device 30. The object information includes object identification information, object name information, and object related information. Here, the periphery of the robot 20 is within the reach of at least one of the first end effector E1 and the second end effector E2. The object information may include other information about the object in addition to the object identification information, the object name information, and the object related information.

  The object identification information is, for example, an ID (IDentification) assigned so as not to overlap with an object. The object identification information may be other information that can be used to identify an object and be assigned not to overlap with the object instead of the ID. The object name information is information indicating the object identified by the object identification information and indicating the name assigned to the object by the user via the information processing device 30. The object-related information includes shape information indicating the shape of the object identified by the object identification information, size information indicating the size of the object (for example, various dimensions), and object coordinates associated with the object. And object coordinate system information indicating a system. The object related information may include other information related to the object in addition to the shape information, the size information, and the object coordinate system information.

  An object coordinate system associated with an object is a predetermined part of the object, which is associated with a part specified by the user via the information processing device 30, and moves along with the part. It is The position of the object is represented by the position in the robot coordinate system RC of the origin of the object coordinate system. The orientation of the object is represented by the direction in the robot coordinate system RC of each coordinate axis in the object coordinate system.

  The object position and orientation information is information in which object identification information, which is information for identifying an object, is associated with information indicating the position and orientation of the object, for each of one or more objects located around the robot 20. It is. The object identification information is an ID assigned to an object located around the robot 20 so as not to overlap. The object identification information may be other information that can be used to identify the object in place of the ID and be assigned so as not to overlap with the object. Further, the robot control device 40 detects information indicating the position and attitude of the object based on a captured image captured by a part or all of the first imaging unit C1 to the fourth imaging unit C4 included in the robot 20. The position and orientation of the object may be information indicating the position and orientation of the object in the robot coordinate system RC, or the position and orientation detected by the robot control apparatus 40 by direct teaching or the like, the robot coordinate system of the object It may be information indicating the position and orientation in RC, and may be information indicating the position and orientation in the robot coordinate system RC of the object which is the position and orientation detected by the robot control apparatus 40 by another method. . In the following, as an example, a case where the robot control device 40 detects the position and orientation of the center of gravity of the object as the position and orientation of the object will be described. The said gravity center is an example of the site | part which represents the position and attitude | position of the said object. Here, the site may be another site corresponding to the object instead of the center of gravity. In the following, as an example, a case where object position and orientation information is stored in advance in the robot control device 40 will be described. The object position and orientation information may be information associated with other information in addition to the object identification information and the information indicating the position and orientation of the object.

  Peripheral object information is information in which object position / posture information of an object and object identification information included in object information on an object according to an object are associated with each of one or more objects located around the robot 20 It is. In other words, the peripheral object information is information indicating an object corresponding to each of one or more objects located around the robot 20. The peripheral object information is information indicating the position and orientation of the object in the robot coordinate system RC by the position and orientation of the object according to the object. The peripheral object information may be information associated with other information in addition to the object position and orientation information and the object identification information.

  The teaching point information is information indicating a teaching point. The teaching point is a virtual point on which the robot control apparatus 40 operates the first arm A1 to make the control points T1 coincide with each other. The teaching point is associated with teaching point position information which is information indicating the position of the teaching point, and teaching point attitude information which is information indicating the attitude of the teaching point. When the robot 20 matches the control point T1 to a certain teaching point, the position of the control point T1 (that is, the position of the first end effector E1 in this example) coincides with the position of the teaching point. Further, in this case, the attitude of the control point T1 (that is, the attitude of the first end effector E1 in this example) coincides with the attitude of the teaching point.

  The grip information is information including relative position information indicating the relative position between the aforementioned grip target and the first end effector E1 mounted on the robot 20. In addition to the relative position information, the holding information may be information associated with other information. In the following, as an example, when the grip information is information in which the object identification information and the object name information, the relative position information, the relative posture information, the open / close amount information, and the tool coordinate system information are associated with each other Will be explained. The object identification information included in the grip information is object identification information of an object according to the grip target. The object name information included in the grip information is object name information of an object according to the grip target. The relative attitude information is information indicating the relative attitude between the grasped object and the first end effector E1. Further, the opening / closing amount information is information indicating the opening / closing amount in the case where the first end effector E1 grips the grasping target among the opening / closing amounts of the finger portion provided in the first end effector E1. Here, the amount of opening and closing of the finger may be any amount as long as it represents the distance between the tips of the plurality of fingers included in the first end effector E1. The tool coordinate system information is information indicating a tool coordinate system. The tool coordinate system is a three-dimensional orthogonal coordinate system associated with the grasped object grasped by the first end effector E1, and the position in the robot coordinate system RC of the portion desired by the user among the portions possessed by the grasped object It is a three-dimensional orthogonal coordinate system that indicates the attitude. Also, the tool coordinate system moves with the object to be grasped. For this reason, it can be put in another way that tool coordinate system information is information which shows relative position and posture of a grasping object and the part concerned. Here, the said site | part is an example of the designated site | part. For example, when the grip target is an electric driver, the tool coordinate system is associated with the tip to represent the position and orientation of the tip of the electric driver in the robot coordinate system RC. The grasping information may be configured not to include part or all of the object identification information, the object name information, the relative posture information, the open / close amount information, and the tool coordinate system information. , Object name information, relative posture information, opening / closing amount information, and a configuration including other information together with relative position information instead of part or all of tool coordinate system information, object identification information, Other information may be included in addition to all of the object name information, the relative position information, the relative posture information, the opening / closing amount information, and the tool coordinate system information.

  Further, the robot control device 40 acquires, from the first force detection unit S1, information indicating a result detected by the first force detection unit S1, and operates the first arm A1 by force control based on the acquired information. The force control is compliant motion control such as impedance control.

  The robot control device 40 operates the first arm A1 by the processing described above. Further, the robot control device 40 operates the second arm A2 by the same process as the process. Then, the robot control device 40 operates at least one of the first arm A1 and the second arm A2 to cause the robot 20 to perform predetermined work. The predetermined operation may be any operation. The robot control apparatus 40 may be configured to operate at least one of the first arm A1 and the second arm A2 by another process in addition to the process.

  The information processing apparatus 30 is, for example, an information processing apparatus such as a laptop PC (Personal Computer), a tablet PC, a desktop PC, a workstation, a multifunctional mobile phone terminal (smart phone), a mobile phone terminal, a PDA (Personal Digital Assistant), etc. . Note that the information processing device 30 may be a teaching pendant.

  The information processing apparatus 30 generates various types of information such as an operation program, teaching point information, object information, and gripping information according to an operation received from the user. Then, the information processing device 30 outputs the generated information to the robot control device 40 for storage (teaching the robot control device 40). Here, even when the robot control apparatus 40 is in the offline state, the information processing apparatus 30 can output the generated information to the robot control apparatus 40 and store it.

  The information processing device 30 is communicably connected to the robot control device 40 by a cable. Wired communication via a cable is performed according to a standard such as Ethernet (registered trademark) or USB, for example. Here, the cable connecting the information processing apparatus 30 and the robot control apparatus 40 is an example of a wired line among the lines communicably connecting the information processing apparatus 30 and the robot control apparatus 40. The information processing apparatus 30 may be connected to the robot control apparatus 40 by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark). In this case, for example, Wi-Fi (registered trademark) is an example of a wireless communication line among the lines connecting the information processing apparatus 30 and the robot control apparatus 40 in a communicable manner.

<Hardware Configuration of Information Processing Device>
The hardware configuration of the information processing apparatus 30 will be described below with reference to FIG. FIG. 2 is a diagram showing an example of the hardware configuration of the information processing apparatus 30. As shown in FIG.

  The information processing apparatus 30 includes, for example, a processor 31, a memory 32, an input receiving unit 33, a communication unit 34, and a display unit 35. Further, the information processing device 30 communicates with the robot control device 40 via the communication unit 34. These components are communicably connected to one another via a bus.

  The processor 31 is, for example, a CPU (Central Processing Unit). The processor 31 may be another processor such as an FPGA (Field Programmable Gate Array) instead of the CPU. The processor 31 executes various programs stored in the memory 32. The processor 31 may be configured by a CPU included in one information processing apparatus (in this example, the information processing apparatus 30), or may be configured by a CPU included in a plurality of information processing apparatuses.

  The memory 32 includes, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), an EEPROM (Electrically Erasable Programmable Read-Only Memory), a ROM (Read-Only Memory), a RAM (Random Access Memory), and the like. The memory 32 may be an external storage device connected by a digital input / output port such as a USB, instead of the one built in the information processing device 30. The memory 32 stores various types of information processed by the information processing apparatus 30, various types of images, operation programs, and the like. The memory 32 may be configured by one storage device, or may be configured by a plurality of storage devices. In addition, the plurality of storage devices may include a storage device included in an information processing device that is separate from the information processing device 30.

  The input receiving unit 33 is an input device such as a keyboard, a mouse, and a touch pad. The input accepting unit 33 may be a touch panel integrally formed with the display unit 35.

  The communication unit 34 includes, for example, a digital input / output port such as USB, an Ethernet (registered trademark) port, and the like.

  The display unit 35 is, for example, a liquid crystal display panel or an organic EL (ElectroLuminescence) display panel.

<Hardware Configuration of Robot Controller>
The hardware configuration of the robot control device 40 will be described below with reference to FIG. FIG. 3 is a diagram showing an example of a hardware configuration of the robot control device 40. As shown in FIG.

  The robot control device 40 includes, for example, a processor 41, a memory 42, and a communication unit 44. Further, the robot control device 40 communicates with the information processing device 30 via the communication unit 44. These components are communicably connected to one another via a bus.

  The configuration of the processor 41 is the same as the configuration of the processor 31, so the description will be omitted.

  The configuration of the memory 42 is the same as the configuration of the memory 32, so the description will be omitted.

  The configuration of the communication unit 44 is the same as the configuration of the communication unit 34, so the description will be omitted.

  The robot control device 40 may be configured to include one or both of an input device such as a keyboard, a mouse, and a touch pad, and a display device having a display.

<Functional Configuration of Robot Controller>
Hereinafter, with reference to FIG. 4, functional configurations of the information processing device 30 and the robot control device 40 will be described. FIG. 4 is a diagram illustrating an example of functional configurations of the information processing device 30 and the robot control device 40.

  The information processing apparatus 30 includes a memory 32, an input receiving unit 33, a communication unit 34, a display unit 35, and a control unit 36.

  The control unit 36 controls the entire information processing apparatus 30. The control unit 36 includes a display control unit 361, a processing unit 363, and a communication control unit 365. These functional units included in the control unit 36 are realized, for example, by the processor 31 executing various instructions (for example, a program, each command included in the program, and the like) stored in the memory 32. Further, part or all of the functional units may be hardware functional units such as LSI (Large Scale Integration) and ASIC (Application Specific Integrated Circuit).

  The display control unit 361 generates various images in accordance with the operation accepted from the user. The display control unit 361 causes the display unit 35 to display the generated image.

  The processing unit 363 performs processing in accordance with the operation received from the user via the image displayed on the display unit 35.

  The communication control unit 365 controls communication with the robot control device 40 via the communication unit 34.

  The robot control device 40 includes a memory 42, a communication unit 44, and a control unit 46.

  The control unit 46 controls the entire robot control device 40. The control unit 46 includes a program processing unit 461, a path generation unit 463, a communication control unit 465, and a robot control unit 467. These functional units included in the control unit 46 are realized, for example, by the processor 41 executing various instructions (for example, a program, each command included in the program, and the like) stored in the memory 42. Further, part or all of the functional units may be hardware functional units such as an LSI and an ASIC.

  The program processing unit 461 reads the operation program stored in the memory 42 from the memory 42 in the control of the first arm A1. The program processing unit 461 reads teaching point information indicating each of one or more teaching points designated by the operation program from the memory 42 in which the teaching point information is stored, based on the read operation program. The program processing unit 461 outputs the read teaching point information to the path generation unit 463. The program processing unit 461 performs the same process as the process performed in the control of the first arm in the control of the second arm A2.

  The path generation unit 463 reads the object information stored in the memory 42 from the memory 42. In addition, the path generation unit 463 reads the object position and orientation information stored in the memory 42 from the memory 42. The path generation unit 463 generates peripheral object information based on the read object information and object position and orientation information. The path generation unit 463 stores the generated peripheral object information in the memory 42. Further, the path generation unit 463 acquires the teaching point information from the program processing unit 461 in the control of the first arm A1. In addition, the path generation unit 463 reads out each of the object information, the peripheral object information, and the grip information stored in the memory 42 from the memory 42 in the control. The path generation unit 463 determines the position and orientation of the current control point T1 based on the acquired teaching point information, the read object information, the peripheral object information, and the gripping information, of the teaching point indicated by the teaching point information. A path is made to pass the control point T1 until it matches the position and attitude. The path generation unit 463 causes the memory 42 to store path information indicating the generated path. The path generation unit 463 performs the same process as the process performed in the control of the first arm in the control of the second arm.

  The communication control unit 465 controls communication with the information processing device 30 via the communication unit 44.

  The robot control unit 467 reads the path information stored in the memory 42 from the memory 42 in the control of the first arm A1. The robot control unit 467 calculates the rotation angle of each joint provided in the first arm A1, which is the rotation angle at each point on the route indicated by the route information, based on the read route information, and the calculated time The first arm A1 is moved based on the movement angle, and the control point T1 is moved along the first path. The robot control unit 467 performs the same process as the process performed in the control of the first arm in the control of the second arm A2.

<Information Editing Process Performed by Information Processing Device>
Hereinafter, the information editing process performed by the information processing device 30 will be described with reference to FIG. FIG. 5 is a diagram illustrating an example of the flow of the information editing process performed by the information processing device 30. The information editing process is a process (for example, generation, etc.) of various information (for example, object information, gripping information, teaching point information, operation program etc.) according to an operation received from the user among Change, output etc.).

  The display control unit 361 stands by until an operation to start the information editing process is received from the user (step S110). The display control unit 361 receives the operation from the user via, for example, an operation image (not shown) displayed in advance on the display unit 35 by the display control unit 361.

  When an operation to start the information editing process is received from the user (YES in step S110), the display control unit 361 generates an information editing image (not shown). Then, the display control unit 361 causes the display unit 35 to display the generated information editing image (step S120). The information editing image is an image in which the information processing apparatus 30 receives an operation of editing (for example, generation, change, output, etc.) of various types of information from the user. In addition, the information editing image has a plurality of tabs. The display control unit 361 causes the display unit 35 to display an image according to the tab selected by the received operation when the user selects an operation for selecting any one of the plurality of tabs in the information editing image. . The plurality of tabs include, for example, a tab according to the object information edit image, a tab according to the grip information edit image, a tab according to the teaching point information edit image, and a tab according to the operation program edit image. Each is included. Note that the tab may include tabs corresponding to other images. In addition, the configuration of the information editing image may be an image including any graphical user interface (GUI) as long as the image includes the plurality of tabs. For this reason, the information editing image will not be described further.

  The object information edit image is an image that the information processing apparatus 30 receives from the user an operation to edit (for example, generate, change, output, etc.) object information. Further, the grip information edit image is an image in which the information processing apparatus 30 receives an operation of editing (for example, generation, change, output, etc.) of the grip information from the user. The teaching point information edit image is an image that the information processing apparatus 30 receives from the user an operation to edit (for example, generate, change, output, etc.) the teaching point information. The operation program edit image is an image that the information processing device 30 receives from the user an operation to edit (for example, generate, change, output, etc.) the operation program.

  After the process of step S120 is performed, the processing unit 363 stands by until an operation is received from the user via the information editing image (step S130). When it is determined that the operation is received from the user via the information edit image (step S130-YES), the processing unit 363 determines that the received operation is various information in the information edit image (for example, the operation program, the object information, the grip information It is determined whether it is an editing end operation for ending an operation for editing (e.g., generation, change, output etc.) (step S140). When it is determined that the operation accepted in step S130 is not the editing end operation (step S140-NO), the processing unit 363 performs a process (for example, a process of editing object information, editing of gripping information) according to the operation The process to be performed, the process to edit the teaching point information, the process to edit the operation program, etc. is performed (step S150), and thereafter, the process transitions to step S130 and stands by again until the operation is received from the user via the information editing image. Do. On the other hand, when it is determined that the operation received in step S140 is the editing end operation (YES in step S140), the processing unit 363 deletes the display of the information editing image on the display unit 35, and ends the processing.

<Object information edit image>
Each of the object information edit image and the processing of the information processing apparatus 30 in the object information edit image will be described below with reference to FIG. FIG. 6 is a diagram showing an example of the object information edit image. An image P1 illustrated in FIG. 6 is an example of an object editing image. The image P1 is, for example, an operation area in which an area VS and various kinds of GUIs (Graphical User Interfaces) for receiving an operation from the user are arranged (not shown in the drawing, the first operation area (in the example shown in FIG. And at least a part of the region other than the region VS). Here, the area VS is an example of an area for displaying various virtual objects arranged in the virtual space generated by the processing unit 363 in the storage area of the memory 32 among the areas included in the image P1. The image P1 may be configured to have another GUI in addition to the area VS and the first operation area.

  In the image P1, the user can create, change, output, store, etc. object information as editing of object information. The output is an output of the object information to the robot control device 40.

  Here, various operations performed by the user on the information processing apparatus 30 in the image P1 and processing of the information processing apparatus 30 according to the operations will be described.

  The user can generate an object, for example, in the image P1. When generating an object, the user performs an operation of selecting any one of one or more pieces of model information stored in advance in the memory 32 on the first operation area described above. When the operation is performed, the processing unit 363 reads the model information selected by the received operation from the memory 32. The model information is, for example, information indicating a model representing a three-dimensional shape of each of the objects located around the robot 20. The model information is, for example, CAD (Computer Aided Design) data of each object. The model information may be other information instead of CAD data. After reading out the model information from the memory 32, the processing unit 363 has a simple shape among virtual objects including the three-dimensional shape represented by the model, based on the model represented by the model information read from the memory 32. A virtual object that is present and has the smallest volume is generated as an object according to the three-dimensional shaped object represented by the model. Here, the process of generating an object based on the model represented by the model information may be a known method or a method to be developed. The display control unit 361 causes the area VS to display the object generated by the processing unit 363 by arranging the object in the virtual space displayed in the area VS described above. When placing an object in the virtual space, the display control unit 361 may place the object at any position in the virtual space. For example, the display control unit 361 arranges the object in the virtual space such that a point serving as a predetermined reference in the virtual space matches the center of gravity of the object. In the following, as an example, a portion representing the position and orientation of the object among the portions possessed by an object represents a position and an orientation of the object according to the object among the portions possessed by the object (in this example, the portions The case where the region corresponds to the center of gravity of the object) will be described. In addition, the site | part which represents the position and attitude | position of the said object among the site | parts which a certain object has may be a site | part which does not correspond to the site | part which shows the position and attitude | position of the object according to the said object among site | parts which the said object has.

  Further, for example, in the image P1, the user can display an object according to any one of the one or more pieces of object information stored in advance in the memory 32 in the area VS. When displaying an object according to any of the object information stored in advance in the memory 32, the user performs an operation of selecting any one of the one or more pieces of object information stored in advance in the memory 32 as the first operation Do it for the area. When the operation is performed, the processing unit 363 reads the object information selected by the received operation from the memory 32. Then, the display control unit 361 causes the area VS to display an object according to the object information read by the processing unit 363 from the memory 32 in the virtual space displayed in the area VS.

  Here, an object according to certain object information is an object having each of a shape indicated by shape information included in the object information and a size indicated by size information included in the object information. An object according to the object information is an object associated with an object coordinate system indicated by object coordinate system information included in the object information. That is, as described above, the position of the object is represented by the position in the robot coordinate system RC of the origin of the object coordinate system. Further, the posture of the object is represented by the direction in the robot coordinate system RC of each coordinate axis in the object coordinate system. Further, each of object identification information and object name information included in the object information is associated with an object corresponding to the object information.

  In the following, as an example, the case where the number of objects that can be displayed in the area VS is one will be described. That is, when displaying a new object in the area VS, the display control unit 361 deletes the object displayed in the area VS before the object from the virtual space displayed in the area VS. The display control unit 361 may be configured to be able to display two or more objects in the area VS.

  Here, the object OB illustrated in FIG. 6 is an object corresponding to the three-dimensional shaped object represented by the model O illustrated in FIG. 6 and is an example of the object generated by the processing unit 363. In the example shown in FIG. 6, the three-dimensional shaped object represented by the model O is a spring. The object may be any other object instead of the spring. As shown in FIG. 6, the object OB is a virtual object having a simple shape and the smallest volume among virtual objects including the three-dimensional shape represented by the model O. Moreover, in the said example, the shape of object OB is a rectangular parallelepiped shape.

  Also, for example, in the image P1, the user can change the shape of the object displayed in the area VS. When changing the shape of the object, the user performs an operation of changing the shape on the first operation area or the area VS. When the operation is performed, the processing unit 363 changes the shape according to the operation. Then, the display control unit 361 causes the area VS to display the object after changing the shape.

  Also, for example, in the image P1, the user can change the size of the object displayed in the area VS. When changing the size of the object, the user performs an operation of changing the size on the first operation area or area VS. When the operation is performed, the processing unit 363 changes the size in accordance with the operation. Then, the display control unit 361 causes the area VS to display the object after changing the size.

  In addition, for example, in the image P1, the user can input object name information to be associated with object information corresponding to an object displayed in the area VS. When inputting the object name information, the user performs an operation of inputting the object name information on the first operation area. When the operation is performed, the processing unit 363 specifies the input object name information as object name information to be associated with the object information. Further, the display control unit 361 displays the input object name information in a field for inputting object name information in the first operation area.

  In addition, the user coordinates a three-dimensional orthogonal coordinate system representing the position and orientation of the object in the robot coordinate system RC at a portion desired by the user among the portions possessed by the object displayed in the region VS in the image P1, for example. It can be associated with the object as a system. When the object coordinate system is associated with the object, the user performs an operation of displaying the object coordinate system in the area VS on the first operation area. Then, after the object coordinate system is displayed in the area VS in the area VS, the user drags the object coordinate system in the area VS, for example, in the virtual space displayed in the area VS. The coordinate system is moved (specifically, translated or rotated) relative to the object, and the object coordinate system of the position and orientation desired by the user is selected at the portion desired by the user among the portions possessed by the object. Match. When an operation to display the object coordinate system in the area VS is performed, the display control unit 361 causes the area VS to display the object coordinate system. When the display control unit 361 receives from the user an operation to move the object coordinate system relative to the object in the area VS, the display control unit 361 relative to the object in the object coordinate system displayed in the area VS. Position and attitude are changed to positions and attitudes corresponding to the operation. Also, the processing unit 363 associates the object coordinate system with the object each time the relative position and orientation of the object coordinate system with respect to the object are changed. The position of the object associated with the object coordinate system is represented by the position in the robot coordinate system RC of the origin of the object coordinate system. Further, the posture of the object is represented by the direction in the robot coordinate system RC of each coordinate axis in the object coordinate system. The coordinate system OC shown in FIG. 6 is an example of an object coordinate system associated with the object OB. That is, in the example shown in FIG. 6, the user moves the coordinate system OC relative to the object OB in the virtual space displayed in the area VS by dragging the coordinate system OC in the area VS. (Specifically, translation or rotation).

  Further, the user can generate object information based on, for example, the object and the object coordinate system displayed in the area VS and the object name information input to the information processing apparatus 30 in the image P1. When generating object information, the user performs an operation of generating object information on the first operation area. When the operation is performed, the processing unit 363 selects the object displayed in the area VS (the object OB in the example illustrated in FIG. 6) and the object coordinate system displayed in the area VS (example illustrated in FIG. 6) Then, object information is generated based on the coordinate system OC) and the object name information input in advance. More specifically, the processing unit 363 assigns object identification information to the object in accordance with the operation. The processing unit 363 also generates, based on the object, shape information indicating the shape of the object and size information indicating the size of the object. The processing unit 363 also generates object coordinate system information indicating the object coordinate system associated with the object based on the object coordinate system associated with the object. The processing unit 363 generates object related information including each of the generated shape information, size information, and object coordinate system information. The processing unit 363 generates object information including each of the generated object identification information, the object name information input in advance, and the generated object related information. Here, FIG. 7 is a diagram showing an example of object information. As shown in FIG. 7, in the object information, object identification information, object name information, and object related information are associated. In the example shown in FIG. 7, the object information is a table that stores object identification information, object name information, and object-related information in association with each other, but instead of the table, object identification information, It may be other information that associates object name information with object related information.

  Also, the user can cause the information processing device 30 to output the generated object information to the robot control device 40, for example, in the image P1. When causing the information processing apparatus 30 to output the object information to the robot control apparatus 40, the user performs an operation to cause the information processing apparatus 30 to output the object information to the robot control apparatus 40 on the first operation area. When the operation is performed, the communication control unit 365 transmits the object information to the robot control device 40 via the communication unit 34 and the cable communicably connecting the information processing device 30 and the robot control device 40. Output.

  Also, the user can store the generated object information in the memory 32, for example, in the image P1. When storing the object information in the memory 32, the user performs an operation of storing the object name information in the memory 32 on the first operation area. When the operation is performed, the processing unit 363 stores the object information in the memory 32.

  As described above, the information processing apparatus 30 can generate, change, output, and store object information based on an operation received from the user via the object information edit image.

<Grasping information edit image>
Hereinafter, the grip information editing image will be described with reference to FIG. FIG. 8 is a view showing an example of a grip information edit image. The image P2 shown in FIG. 8 is an example of a gripped edited image. The image P2 is, for example, an area VS2 and a second operation area (not shown) in which various types of GUIs for receiving operations from the user are arranged (in the example shown in FIG. And at least a part of the other regions). Here, the area VS2 is an example of an area for displaying various virtual objects arranged in the virtual space generated by the processing unit 363 in the storage area of the memory 32 among the areas included in the image P2. The virtual space may be the same virtual space as the virtual space displayed in the area VS, or may be a virtual space different from the virtual space displayed in the area VS. In the following, as an example, a case where the virtual space displayed in the area VS2 is a virtual space different from the virtual space displayed in the area VS will be described. The image P2 may be configured to have another GUI in addition to the area VS2 and the second operation area.

  In the image P2, for example, the user can perform generation, change, output, storage, and the like of the grip information as editing of the grip information. Here, the output is an output of the gripping information to the robot control device 40.

  Here, various operations performed by the user on the information processing apparatus 30 in the image P2 and processing of the information processing apparatus 30 according to the operations will be described.

  For example, in the image P2, the user can display, in the area VS2, an object corresponding to any one of the one or more pieces of object information stored in advance in the memory 32. When displaying an object according to any of the object information stored in advance in the memory 32, the user performs an operation of selecting any of the one or more pieces of object information stored in advance in the memory 32 as a second operation Do it for the area. When the operation is performed, the processing unit 363 reads the object information selected by the received operation from the memory 32. Then, the display control unit 361 causes the area VS2 to display an object according to the object information read by the processing unit 363 from the memory 32 in the virtual space displayed in the area VS2. At this time, the display control unit 361 may be configured to display the object coordinate system associated with the object in the area VS2, or may be configured to display the object coordinate system in the area VS2. The object OB illustrated in FIG. 8 is an example of the object displayed in the area VS2. Further, in the example shown in FIG. 8, a coordinate system OC, which is an example of an object coordinate system associated with the object OB, is omitted to prevent the drawing from being complicated. In addition, when arranging an object in the virtual space, the display control unit 361 may arrange the object at any position in the virtual space. For example, the display control unit 361 arranges the object in the virtual space such that a point serving as a predetermined reference in the virtual space matches the center of gravity of the object.

  In addition, for example, in the image P2, the user can cause the virtual first end effector E1, which is the virtual first end effector E1, to be displayed in the area VS2 together with the object displayed in the area VS2. When displaying the virtual first end effector in the area VS2, the user performs an operation of displaying the virtual first end effector in the area VS2 on the second operation area. When the operation is performed, the processing unit 363 generates a virtual first end effector. Then, the display control unit 361 causes the area VS2 to display the virtual first end effector generated by the processing unit 363 by arranging the virtual first end effector in the virtual space displayed in the area VS2. In addition, the display control unit 361 causes the control point coordinate system associated with the control point T1 set in the first end effector E1 to be displayed together with the virtual first end effector. Here, the virtual first end effector VE illustrated in FIG. 8 is an example of the virtual first end effector displayed in the area VS2. The coordinate system TC shown in FIG. 8 is an example of the control point coordinate system.

  Also, for example, in the image P2, the user moves (specifically, translates or rotates) the virtual first end effector displayed in the area VS2 relative to the object, and the object of the virtual first end effector The relative position and orientation to the can be matched with the position and orientation desired by the user. When the relative position and posture of the virtual first end effector with respect to the object match the position and posture desired by the user, the user desires the relative position and posture of the virtual first end effector with respect to the object The second operation area or area VS2 is subjected to an operation of matching the position and attitude of the second operation area. For example, by dragging the virtual first end effector in the area VS2, the user moves relative to the object displayed in the area VS2 (specifically, within the virtual space displayed in the area VS2). , Translate or rotate) to match the relative position and orientation of the virtual first end effector with the object to the position and orientation desired by the user. When the operation is received, the display control unit 361 changes the position and orientation of the virtual first end effector displayed in the area VS2 relative to the object to the position and orientation according to the operation. Here, the position and the posture are the relative position and posture of the first end effector E1 to the object when the first end effector E1 grips the object according to the object. In the example illustrated in FIG. 8, the user drags the virtual first end effector VE in the area VS2 to move the virtual first end effector VE to the object OB in the virtual space displayed in the area VS2. It can be relatively moved (specifically, translated or rotated).

  Further, for example, in the image P1, the user can change the open / close amount of the finger portion of the virtual first end effector displayed in the area VS2. When changing the open / close amount, the user performs an operation of changing the open / close amount on the second operation area or area VS2. For example, the user can move (specifically, translate) the finger relative to the virtual first end effector by dragging the finger in the region VS2. When the operation is performed, the display control unit 361 changes the opening / closing amount to the opening / closing amount according to the operation.

  Also, for example, in the image P2, the user can associate the above-described tool coordinate system with a site desired by the user among sites possessed by the object displayed in the area VS2. When the tool coordinate system is associated with the object, the user performs an operation of displaying the tool coordinate system in the area VS2 on the second operation area. Then, after the tool coordinate system is displayed in the area VS2, the user can drag the tool coordinate system in the area VS2, for example, in the virtual space displayed in the area VS2 by dragging the tool coordinate system. The object is moved (specifically, translated or rotated) relative to the object, and the tool coordinate system of the position and orientation desired by the user is associated with the part desired by the user among the parts possessed by the object. When an operation of displaying the tool coordinate system in the area VS2 is performed, the display control unit 361 causes the tool coordinate system to be displayed in the area VS2. When the display control unit 361 receives from the user an operation to move the tool coordinate system relative to the object in the area VS2, the display control unit 361 positions the tool coordinate system displayed in the area VS2 relative to the object. And the posture is changed to the position and posture according to the operation. Also, the processing unit 363 associates the tool coordinate system with the object each time the relative position and orientation of the tool coordinate system with respect to the object is changed. The coordinate system TLC shown in FIG. 8 is an example of such a tool coordinate system. For example, the user moves the coordinate system TLC relative to the object OB in the virtual space displayed in the area VS2 by dragging the coordinate system TLC in the area VS2 (specifically, translation or Can be rotated). Then, the user can associate the coordinate system TLC of the position and posture desired by the user with the part desired by the user among the parts possessed by the object OB. The position of the relevant part associated with the coordinate system TLC is represented by the position in the robot coordinate system RC of the origin of the coordinate system TLC. Further, the posture of the part is represented by the direction in the robot coordinate system RC of each coordinate axis in the coordinate system TLC.

  Also, for example, in the image P2, the user can generate gripping information based on each of the object displayed in the area VS2, the virtual first end effector, and the tool coordinate system. When generating the grip information, the user performs an operation of generating the grip information on the second operation area. When the operation is performed, the processing unit 363 generates gripping information based on each of the object displayed in the area VS2, the virtual first end effector, and the tool coordinate system. More specifically, the processing unit 363 specifies each of object identification information and object name information included in object information corresponding to the object displayed in the area VS2. Further, the processing unit 363 described above based on the object coordinate system indicated by the object coordinate system information included in the object information and the control point coordinate system associated with the virtual first end effector displayed in the area VS2. Relative position information and relative attitude information of the The processing unit 363 also generates open / close amount information indicating the open / close amount of the finger portion provided in the virtual first end effector VE displayed in the area VS2. Further, the processing unit 363 generates tool coordinate system information indicating a tool coordinate system associated with the object based on the tool coordinate system associated with the object displayed in the region VS2. The processing unit 363 is gripping information which is information in which each of the identified object identification information and object name information is associated with each of the generated relative position information, relative posture information, opening / closing amount information, and tool coordinate system information. Generate At this time, the processing unit 363 assigns (associates) the gripping information identification information for identifying the gripping information to the generated gripping information. The grip information identification information is an ID assigned so as not to overlap with the grip information. Note that the gripping information identification information may be other information that can be used to identify the gripping information and be assigned not to overlap with the gripping information, instead of the ID.

  Here, FIG. 9 is a figure which shows an example of holding information. As shown in FIG. 9, in the grip information, the grip information identification information, the object identification information, the object name information, the relative position information, the relative attitude information, the open / close amount information, and the tool coordinate system information are associated. It is a table to be added and stored, but instead of the table, grasping information identification information, object identification information, object name information, relative position information, relative attitude information, opening / closing amount information, tool coordinate system information And other information that associates the

  Also, the user can cause the information processing device 30 to output the generated gripping information to the robot control device 40, for example, in the image P2. When causing the information processing apparatus 30 to output the grip information to the robot control apparatus 40, the user performs an operation to cause the information processing apparatus 30 to output the object information to the robot control apparatus 40 on the second operation area. When the operation is performed, the communication control unit 365 transmits the object information to the robot control device 40 via the communication unit 34 and the cable communicably connecting the information processing device 30 and the robot control device 40. Output.

  In addition, the user can store the generated grip information in the memory 32 in, for example, the image P2. When storing the grip information in the memory 32, the user performs an operation of storing the grip information in the memory 32 on the second operation area. When the operation is performed, the processing unit 363 causes the memory 32 to store the grip information.

  Also, for example, in the image P2, the user corresponds to an object according to any one of one or more pieces of grip information stored in advance in the memory 32, a virtual first end effector, a control point coordinate system, a tool coordinate system Can be displayed in the area VS2. When displaying an object, a virtual first end effector, a control point coordinate system, and a tool coordinate system according to any one of the one or more pieces of grip information stored in advance in the memory 32 in the area VS2, the user In the second operation area, an operation of selecting any one of the one or more pieces of grip information stored in advance in the memory 32 is performed. When the operation is performed, the processing unit 363 reads the grip information selected by the received operation from the memory 32. Then, the display control unit 361 is a virtual space in which the object according to the grip information read by the processing unit 363 from the memory 32, the virtual first end effector, the control point coordinate system, and the tool coordinate system are displayed in the area VS2. By arranging in, the area VS2 is displayed.

  Here, an object corresponding to certain grip information is an object indicated by object identification information included in the grip information. Further, the virtual first end effector according to the grip information is a position and posture based on relative position information and relative posture information included in the grip information, and the relative position and posture with respect to the object, and the position and posture Is a virtual first end effector that matches in the virtual space displayed in the area VS2. Moreover, the control point coordinate system according to the said holding information is a control point coordinate system matched with the said virtual 1st end effector. Moreover, the tool coordinate system according to the said grip information is a tool coordinate system which the tool coordinate system information contained in the said grip information shows.

  As described above, the information processing apparatus 30 can generate, change, output, and store gripping information based on the operation received from the user via the gripping information edit image.

  The object information edit image and the grip information edit image may be configured as one image. In this case, the area VS and the area VS2 are configured as one area. That is, the processing unit 363 generates the object information by the processing described above based on the objects arranged in one virtual space displayed in the one area, and is displayed in the one area. Based on each of the object and the virtual first end effector, gripping information is generated by the processing described above.

<Teach point information edit image>
Hereinafter, each of the teaching point information editing image and the processing of the information processing apparatus 30 in the teaching point information editing image will be described. The teaching point information editing image is, for example, an image including an editor capable of editing the teaching point information.

  In the teaching point information edit image, for example, the user can perform generation, change, output, storage, and the like of teaching point information as editing of teaching point information. The said output is an output to the robot control apparatus 40 of teaching point information.

  The user inputs, for example, the position and orientation of the teaching point in the teaching point information editing image. Specifically, the user inputs a desired position and posture as the position and posture of the teaching point in a position and posture input region which is a region for inputting the position and posture in the teaching point information edit image. When the position and orientation are input to the position and orientation input area, the display control unit 361 causes the position and orientation input to the position and orientation input area to be displayed on the area as the position and orientation of the teaching point desired by the user. The position and orientation input by the user may be the position and orientation detected by online teaching, direct teaching or the like, or may be the position and orientation detected based on the captured image.

  Also, for example, in the teaching point information edit image, the position and orientation input area of the position and orientation of the teaching point indicated by any teaching point information of one or more teaching point information stored in advance in the memory 32 in the teaching point information editing image Can be displayed. When displaying the position and orientation of the teaching point indicated by any one of the one or more pieces of teaching point information stored in advance in the memory 32 in the position and orientation input area, the user stores the position and orientation in the memory 32 in advance. An operation of selecting any one of one or more pieces of teaching point information is performed on the teaching point information edit image. When the operation is performed, the processing unit 363 reads the teaching point information selected by the received operation from the memory 32. Then, the display control unit 361 causes the position and orientation input area to display the position and orientation of the teaching point indicated by the teaching point information read by the processing unit 363 from the memory 32.

  Also, the user can store, for example, teaching point information indicating teaching points of the position and orientation input to the position and orientation input area in the memory 32. When storing the teaching point information in the memory 32, the user performs an operation of storing the teaching point information in the memory 32 on the teaching point information edit image. When the operation is performed, the processing unit 363 causes the memory 32 to store the teaching point information.

  In addition, the user can cause the information processing apparatus 30 to output to the robot control apparatus 40, for example, teaching point information indicating the teaching point of the position and orientation input to the position and orientation input area. When causing the robot control apparatus 40 to output the teaching point information to the information processing apparatus 30, the user performs an operation on the teaching point information edit image to cause the robot control apparatus 40 to output the teaching point information to the information processing apparatus 30. . When the operation is performed, the communication control unit 365 outputs the teaching point information to the robot control device 40.

  As described above, the information processing apparatus 30 can generate, change, output, and store teaching point information based on an operation received from the user via the teaching point information edit image.

<Operation program edit image>
Hereinafter, each of the operation program editing image and the process of the information processing apparatus 30 in the teaching point information editing image will be described. The operation program editing image is, for example, an image including an editor capable of editing the operation program.

  In the operation program edit image, for example, the user can perform generation, change, output, storage, and the like of the operation program as editing of the operation program. Here, the output is an output of the gripping information to the robot control device 40.

  Here, an operation program edited by the information processing apparatus 30 will be described. The operation program includes a plurality of commands for operating the robot 20 and a plurality of commands for transmitting and receiving information to and from the robot control device 40. The plurality of commands include, in addition to various commands for operating the robot 20, a first command that causes the robot control device 40 to generate, delete, and change information related to an object located around the robot 20; At least two types of commands are included: a second command that causes the robot control device 40 to generate, delete, and change information related to the operation of.

  The first command includes, for example, six setting commands of an eleventh command to a sixteenth command.

  The eleventh command is peripheral object information to be referred to when the path generation unit 463 generates a path, and with respect to peripheral object information stored in the memory 32, object position / posture information of a new object, and the object This command is a command for adding information associated with object identification information included in object information on a corresponding object.

  The twelfth command is peripheral object information to be referred to when the path generation unit 463 generates a path, and from the peripheral object information stored in the memory 32, the object position / posture information of the specified object and the object The command is a command for deleting information associated with object identification information included in object information on an object.

  The thirteenth command is peripheral object information to be referred to when the path generation unit 463 generates a path, and among information included in the peripheral object information stored in the memory 32, the object position / posture information of the specified object is It is a command to change the position and orientation shown to the specified position and orientation.

  The fourteenth command is peripheral object information that the path generation unit 463 refers to when generating a path for each designated arm (in this example, the first arm A1 or the second arm A2 in this example), and is stored in the memory 32 Information indicating that the object identification information for identifying the specified object among the information included in the peripheral object information that is specified is either an obstacle or a non-obstruction that is an object that is not an obstacle Is a command to associate.

  The fifteenth command refers to the current peripheral object information stored in the reference storage area, which is a storage area referred to by the path generation unit 463 in the storage area of the memory 32, the path generation unit 463 in the storage area of the memory 32 It is a command which associates and stores information identifying surrounding object information in a non-reference storage area.

  The sixteenth command is designated information and based on the information for identifying the peripheral object information, the peripheral object information stored in the non-reference storage area described above is read out, and the read out peripheral object information is used as a new peripheral object It is a command stored in the reference storage area as information.

  The first command may be configured to include another command instead of part or all of the eleventh command to the sixteenth command, and may be added to all of the eleventh command to the sixteenth command. And other commands may be included.

  The second command includes, for example, six operation commands of a 21st command to a 26th command.

  The 21st command is a position and a posture detected from a captured image captured by a part or all of the first imaging unit C1 to the fourth imaging unit C4 included in the robot 20, and the robot of the first end effector E1 It is a command that causes the robot control device 40 to output the position and orientation in the coordinate system RC to the information processing device 30. The position and orientation of the first end effector E1 in the robot coordinate system RC refer to the position and orientation of the first end effector E1 in the robot coordinate system RC in a state in which an object is gripped.

  The twenty-second command is a command for causing the robot control apparatus 40 to specify specified object information among the object information stored in the memory 32. The twenty-second command is based on object identification information for identifying an object according to the object specified by the robot control device 40, and peripheral object information stored in the memory 32. It is a command to make it hold. The 22nd command controls a three-dimensional coordinate system representing the position and orientation of the control point T1 in the robot coordinate system RC when the tool coordinate system information is included in the object information specified by the robot control device 40. The point coordinate system is changed to the tool coordinate system indicated by the tool coordinate system information, and the force detection coordinate system, which is a three-dimensional coordinate system representing the magnitude and direction of the external force detected by the first force detection unit S1, is It is also a command to change to a three-dimensional coordinate system according to the coordinate system.

  The twenty-third command is a command for causing the first end effector E1 to release the gripping target gripped by the first end effector E1. The 23rd command represents the position and orientation of the control point T1 in the robot coordinate system RC when the three-dimensional coordinate system representing the position and orientation of the control point T1 in the robot coordinate system RC is changed to the tool coordinate system. It is also a command to change the three-dimensional coordinate system to the control point coordinate system and to change the force detection coordinate system to the three-dimensional coordinate system according to the control point coordinate system.

  The twenty-fourth command is peripheral object information to be referred to when the path generation unit 463 generates a path, and is mounted by the first end effector E1 among information included in the peripheral object information stored in the memory 32. It is a command to change the (released) object position / posture information of the gripping object to information indicating the specified position / posture and the position / posture in the robot coordinate system RC.

  The twenty-fifth command causes the robot control device 40 to output information indicating the position and orientation in the current robot coordinate system RC of the gripping target gripped by the first end effector E1 to the information processing device 30.

  The twenty-sixth command causes the robot control device 40 to output to the information processing apparatus 30 open / close amount information indicating the open / close amount of the finger portion of the first end effector E1 set in the robot control device 40.

  The second command may be configured to include another command instead of part or all of the 21st command to the 26th command, and may be added to all of the 21st command to the 26th command. And other commands may be included.

  For example, the user generates an operation program including at least one of the first command and the second command described above in the operation program editing image. Specifically, the user inputs the operation program into a program input area which is an area for inputting the operation program among the areas included in the operation program editing image. When the operation program is input to the program input area, the display control unit 361 displays the operation program input to the program input area in the area.

  Also, the user can store, for example, the operation program input to the program input area in the memory 32. When storing the operation program in the memory 32, the user performs an operation of storing the operation program in the memory 32 on the operation program editing image. When the operation is performed, the processing unit 363 stores the operation program in the memory 32.

  Also, the user can cause the information processing apparatus 30 to build the operation program input in the program input area, for example. When building the operation program, the user performs an operation of causing the information processing apparatus 30 to build the operation program on the operation program editing image. When the operation is performed, the processing unit 363 builds the operation program. In addition, in this case, the processing unit 363 generates object information based on the object displayed in the area VS in the object information edited image. About the processing which processing part 363 generates the object information concerned, explanation is omitted, since it is explained above. In addition, in this case, the processing unit 363 generates gripping information based on the object displayed in the region VS2 and the virtual first end effector in the gripping information edit image. About the process which the process part 363 produces | generates the said holding | grip information, since it was demonstrated above, description is abbreviate | omitted. In addition, in this case, the processing unit 363 identifies each of the one or more pieces of teaching point information specified in the operation program. Then, the communication control unit 365 causes the communication unit 34 to transmit each of the built operation program, the generated object information, the generated grip information, and the one or more specified teaching point information. The robot controller 40 outputs the data to the robot controller 40 via a cable communicably connecting the processor 30 and the robot controller 40.

  As described above, the information processing apparatus 30 can generate, change, output, and store the operation program based on the operation received from the user via the operation program editing image.

<Information Generation Process Performed by Robot Controller>
Hereinafter, the information generation process performed by the robot control device 40 will be described with reference to FIG. The information generation process is performed for each of the operation program, the object information, the gripping information, and the teaching point information when the robot control device 40 acquires each of the operation program, the object information, the gripping information, and the teaching point information from the information processing device 30. It is a process of generating at least one of route information and the above-mentioned peripheral object information based on the above. FIG. 10 is a diagram showing an example of the flow of information generation processing performed by the robot control device 40. In the following, as described above, a case where object position and orientation information is stored in advance in the memory 42 of the robot control device 40 will be described.

  The communication control unit 465 stands by until each of the operation program, object information, gripping information, and teaching point information is acquired from the information processing device 30 (step S210). When it is determined that each of the operation program, object information, gripping information, and teaching point information has been acquired from the information processing apparatus 30 (step S210-YES), the communication control unit 465 determines the acquired operating program, object information, gripping information, Each of the teaching point information is stored in the memory 42 (step S220).

  Next, the path generation unit 463 reads from the memory 42 the object information stored in the memory 42 in step S220. In addition, the path generation unit 463 reads the object position and orientation information stored in the memory 42 from the memory 42. The path generation unit 463 updates the peripheral object information stored in the memory 42 based on the read object information and object position and posture information (step S230). Here, when the peripheral object information is not stored in the memory 42 in step S230, the path generation unit 463 generates the peripheral object information and stores the generated peripheral object information in the memory 42. Thus, the robot control device 40 can update the peripheral object information without updating the operation program. That is, in the robot system 1, the robot control apparatus 40 can change (that is, update) peripheral object information to be referred to when the robot control apparatus 40 generates a route without changing the operation program.

  Next, the path generation unit 463 reads the grip information stored in the memory 42 in step S220 from the memory 42. Then, the path generation unit 463 updates, based on the read grip information, the grip information which is stored in the memory 42 and which the path generation unit 463 refers to (step S240). Thereby, the robot control device 40 can update the gripping information without updating the operation program. That is, in the robot system 1, at least one of the position and the posture at which the robot 20 grips the gripping target can be changed (i.e., updated) in the robot control device 40 without changing the operation program.

Next, the program processing unit 461 causes the path generation unit 463 to generate path information based on the operation program and the teaching point information stored in the memory 42 in step S220 (step S250). Specifically, the program processing unit 461 outputs the teaching point information specified in the operation program to the path generation unit 463. The path generation unit 463
Acquire the corresponding teaching point information. The path generation unit 463 also reads out each of the peripheral object information, the object information, and the grip information stored in the memory 42 from the memory 42. The route generation unit 463 is a route based on the read peripheral object information, the request from the program processing unit 461, the read object information, the read grip information, and the acquired teaching point information, and the surroundings of the robot 20. The first end effector E1 generates a path that does not interfere with the obstacle among the objects located in The method of generating the route may be a known method or a method to be developed from now on. The path generation unit 463 generates path information indicating the generated path. The path generation unit 463 stores the generated path information in the memory 42.

  The communication control unit 465 outputs each of the peripheral object information stored in the memory 42 and the route information to the information processing apparatus 30 (step S260), and ends the process.

<Information Display Process Performed by Information Processing Device>
Hereinafter, the information display process performed by the information processing device 30 will be described with reference to FIG. In the information display process, when the information processing device 30 acquires each of the peripheral object information and the route information from the robot control device 40, at least one of an image according to the peripheral object information and an image according to the route information is displayed. This is processing to be displayed on the unit 35. FIG. 11 is a diagram illustrating an example of the flow of the information display process performed by the information processing device 30.

  The communication control unit 365 stands by until each of peripheral object information and path information is obtained from the robot control apparatus 40 (step S310). When it is determined that each of the peripheral object information and the route information has been acquired from the robot control device 40 (YES in step S310), the communication control unit 365 causes the memory 32 to store each of the acquired peripheral object information and the route information. The display control unit 361 also causes the display unit 35 to display an image informing that the information processing device 30 has acquired each of the peripheral object information and the route information from the robot control device 40.

  Next, the processing unit 363 determines whether or not the peripheral object display operation, which is an operation to cause the display unit 35 to display an image according to the peripheral object information, is received (step S320). When the processing unit 363 determines that the peripheral object display operation that is an operation to display the image according to the peripheral object information on the display unit 35 is received (step S320-YES), the processing unit 363 and the display control unit 361 perform step S310. Peripheral object display processing for displaying on the display unit 35 an image corresponding to the peripheral object information acquired in step S is performed (step S330).

  Here, with reference to FIG. 12, each of an image according to peripheral object information and peripheral object display processing will be described. FIG. 12 is a diagram showing an example of an image according to surrounding object information. An image P3 illustrated in FIG. 12 is an example of an image corresponding to peripheral object information. The image P3 is, for example, an area VS3 and a third operation area (not shown) in which various types of GUIs for receiving operations from the user are arranged (in the example shown in FIG. And at least a part of the other regions). Here, the area VS3 is an example of an area for displaying various virtual objects arranged in the virtual space generated by the processing unit 363 in the storage area of the memory 32 among the areas included in the image P3. The three-dimensional orthogonal coordinate system representing the position and orientation in the virtual space is a robot coordinate system RC. The image P3 may be configured to have another GUI in addition to the area VS3 and the third operation area.

  The processing unit 363 is a virtual object in which an object corresponding to each of one or more objects located around the robot 20 is displayed in the area VS3 based on the acquired peripheral object information and the object information stored in the memory 32. Arrange in space. At this time, the processing unit 363 sets an object based on each of the object position and orientation information and the object identification information included in the surrounding object information and the object information stored in the memory 32 for each of the one or more objects. Place in virtual space. Then, the display control unit 361 causes the region VS3 to display each of the objects arranged in the virtual space and corresponding to each of the one or more objects. At this time, the display control unit 361 causes the virtual robot that is the virtual robot 20 to be displayed in the area VS3 together with each of the objects. The robot VR illustrated in FIG. 12 is an example of the virtual robot. The object OB2 illustrated in FIG. 12 is an example of an object arranged in the virtual space. In the example shown in FIG. 12, one object OB2 is disposed in the virtual space. Whether the user does not store unintended first correspondence information in the peripheral object information stored in the robot control device 40 by looking at the relative positional relationship between each object displayed in the area VS3 and the virtual robot It can be determined whether or not. That is, there is no deviation in the positional relationship between the object recognized by the robot control device 40 and located around the robot 20 and the object actually located around the robot 20. You can check. In addition, the image according to surrounding object information is an example of the image which shows the relative positional relationship of an object and a robot.

  After the process of step S330 is performed, the processing unit 363 determines whether the information processing apparatus 30 has received an operation for ending the information display process from the user (step S340). When it is determined that the information processing apparatus 30 receives an operation of ending the information display process from the user (YES in step S340), the processing unit 363 ends the process. On the other hand, when it is determined that the information processing apparatus 30 has not received from the user the operation to end the information display processing (step S340-NO), the processing unit 363 transitions to step S320, and the image corresponding to the surrounding object information is displayed. It is determined again whether or not the peripheral object display operation which is the operation to be displayed on the display unit 35 is accepted.

  On the other hand, when the processing unit 363 determines that the peripheral object display operation that is an operation to display the image according to the peripheral object information on the display unit 35 is not received (step S320-NO), the processing unit 363 and the display control unit 361 The operation display process is performed to display an image corresponding to the route information acquired in step S310 on the display unit 35 (step S350).

  Here, with reference to FIG. 13, each of the image according to the route information and the operation display process will be described. FIG. 13 is a diagram showing an example of an image according to the route information. The image P4 shown in FIG. 13 is an example of an image according to the route information. The image P4 is, for example, an area VS4 and a fourth operation area (not shown) in which various types of GUIs for receiving operations from the user are arranged (in the example shown in FIG. And at least a part of the other regions). Here, the area VS4 is an example of an area for displaying various virtual objects arranged in the virtual space generated by the processing unit 363 in the storage area of the memory 32 among the areas included in the image P4. The three-dimensional orthogonal coordinate system representing the position and orientation in the virtual space is a robot coordinate system RC. The image P4 may be configured to have another GUI in addition to the area VS4 and the fourth operation area.

  The processing unit 363 arranges the above-described virtual robot in the virtual space displayed in the area VS4. Then, the processing unit 363 causes the virtual robot to perform an operation based on the route indicated by the acquired route information. Further, the display control unit 361 causes the area VS4 to display the virtual robot performing the operation in the virtual space. At this time, the display control unit 361 may be configured to arrange one or more objects displayed in the above-described area VS3 in the virtual space, or may be configured not to arrange the one or more objects. Good. In the example illustrated in FIG. 13, in the area VS <b> 4, a moving image representing an operation of moving the object OB gripped by the virtual first end effector VE in the operation of the robot VR is displayed. The user can determine whether the operation of the robot 20 corresponding to the operation program stored in the robot control device 40 is a desired operation by looking at the operation of the virtual robot displayed in the area VS4. . That is, the user can confirm the operation of the robot 20 by the robot control device 40 without operating the robot 20. The route information is an example of operation information.

<Modification of Embodiment>
Hereinafter, a modification of the embodiment will be described with reference to FIG. FIG. 14 is a block diagram showing an example of a robot system 1 according to a modification of the embodiment. In addition, in the modification of embodiment, the code | symbol same about the structure part similar to embodiment is attached | subjected, and description is abbreviate | omitted.

  In a modification of the embodiment, the robot system 1 may be configured to include a robot 20a that is a single arm robot instead of the robot 20 that is a double arm robot.

<Configuration of robot>
As shown in FIG. 14, the robot 20a is a single-arm robot in which the aforementioned first arm A1 is supported by a support B3. Unlike the robot 20, the robot 20a is controlled by a robot control device 40 installed outside.

  The robot 20a is a single-arm robot including an arm A3 and a support B3 supporting the arm A3.

The arm A includes an end effector E3, a manipulator M3, and a force detection unit S3.
The end effector E3 is an end effector that holds an object. In this example, the end effector E3 includes a finger, and holds the object by holding the object by the finger. Note that, instead of this, the end effector E3 may be configured to hold the object by lifting the object by suction of air, magnetic force, another jig or the like. The end effector E3 is an example of a holder.

  The manipulator M3 comprises six joints. Each of the six joints is provided with an actuator (not shown). That is, the arm A3 including the manipulator M3 is a six-axis vertical articulated arm. The arm A3 performs six-axis degrees of freedom by cooperative operations by the support base B3, the end effector E3, the manipulator M3, and the actuators of the six joints provided in the manipulator M3. The arm A3 may be configured to operate with five or less axes of freedom, or may be configured to operate with seven or more axes of freedom.

  The force detection unit S3 is provided between the end effector E3 and the manipulator M3. The force detection unit S3 is, for example, a force sensor. The force detection unit S3 detects an external force acting on the end effector E3 or an external force acting on an object held by the end effector E3. The force detection unit S3 may be a torque sensor that detects an external force acting on the end effector E3 or an external force acting on an object held by the end effector E3.

  The respective functional units (that is, the end effector E3, the manipulator M3, and the force detection unit S3) included in the robot 20a described above are communicably connected to the robot control device 40 by a cable. Thus, each of the functional units performs an operation based on the control signal acquired from the robot control device 40. Wired communication via a cable is performed according to a standard such as Ethernet (registered trademark) or USB, for example. In addition, a part or all of the functional units may be connected to the robot control device 40 by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

  As described above, the robot system 1 includes a robot (in this example, the robot 20 and the robot 20a), a robot control device that controls the robot (in this example, the robot control device 40), and a circuit (the robot control device). In one example, an information processing apparatus (in this example, the information processing apparatus 30) connected via a cable communicably connecting the information processing apparatus 30 and the robot control apparatus 40 is provided. Further, the information processing apparatus is connected to a robot control apparatus that controls the robot via the line. Further, the information processing apparatus outputs gripping information referred to by the operation program of the robot control apparatus for operating the robot based on the operation program to the robot control apparatus via the line. Further, in the grip information, the relative between the grip target which is the object gripped by the robot and the end effector (in this example, the first end effector E1, the second end effector E2, the end effector E3) mounted on the robot Information (in this example, relative position information) indicating a specific position is included. Thus, the robot system 1 can change the position at which the robot grips the gripping target to the robot control device without changing the operation program.

  Further, in the robot system 1, the information processing apparatus outputs the gripping information to the robot control apparatus via the line, and updates the gripping information stored in the robot control apparatus. Thus, the robot system 1 can cause the robot control device to control the robot based on the updated gripping information without changing the operation program.

  Further, in the robot system 1, the information processing apparatus acquires operation information (in this example, path information) indicating the operation of the robot based on the operation program and the grip information, and an image according to the acquired operation information (this example , An image corresponding to the route information is displayed. As a result, the robot system 1 can confirm the operation that the robot control device causes the robot to perform based on the operation program and the gripping information before operating the robot.

  Further, in the robot system 1, in the information processing apparatus, information indicating the position of an object located around the robot and indicating the position detected by the robot control apparatus is associated with information indicating an object corresponding to the object. The acquired information (in this example, the peripheral object information) is acquired from the robot control device, and the acquired information indicating the position and the information indicating the object are obtained based on the object information which is information on the object stored in advance. An image showing the relative positional relationship between the object and the robot (in this example, an image corresponding to peripheral object information) is displayed. Thereby, the robot system 1 confirms the position in the robot coordinate system (the robot coordinate system RC in this example) of the objects located around the robot among the positions set in the robot control device before operating the robot It can be done.

  Further, in the robot system 1, the gripping information includes information (in this example, relative posture information) indicating the relative posture between the gripping target and the end effector attached to the robot. As a result, the robot system 1 does not change the operation program of the robot without changing the operation program based on the holding information including the information indicating the relative position and posture of the object and the end effector mounted on the robot. Among them, the operation of the robot gripping the object can be changed to a desired operation.

  Further, in the robot system 1, the grip information includes information (in this example, open / close amount information) indicating the open / close amount of the finger provided in the end effector attached to the robot. Thereby, the robot system 1 targets the robot among the operations of the robot without changing the operation program based on the holding information including the information indicating the opening / closing amount of the finger portion provided in the end effector mounted on the robot. The operation of gripping an object can be changed to a desired operation.

  Further, in the robot system 1, the relative position between the part indicating the position and posture of the object to be grasped (in this example, the center of gravity of the object to be grasped) in the grasping information and the designated part of the area possessed by the object to be grasped And information indicating the posture (in this example, tool coordinate system information). Thus, the robot system 1 uses the gripping information including the information indicating the relative position and orientation of the part representing the position and orientation of the object to be grasped and the designated part of the region of the object to be grasped. Among the motions of the robot, the motion of the robot gripping the target can be changed to a desired motion without changing the motion program.

  The embodiment of the present invention has been described in detail with reference to the drawings, but the specific configuration is not limited to this embodiment, and changes, replacements, deletions and the like can be made without departing from the scope of the present invention. It may be done.

  In addition, a program for realizing the function of an arbitrary component in the device described above (for example, the information processing device 30 and the robot control device 40) is recorded in a computer readable recording medium, and the program is a computer system It may be read and executed. Note that the “computer system” referred to here includes hardware such as an operating system (OS) and peripheral devices. The term "computer-readable recording medium" refers to a flexible disk, a magneto-optical disk, a ROM, a portable medium such as a CD (Compact Disk) -ROM, or a storage device such as a hard disk built in a computer system. . Furthermore, "computer-readable recording medium" means volatile memory (RAM) in a computer system as a server or client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. In addition, those that hold the program for a certain period of time are also included.

In addition, the above program may be transmitted from a computer system in which the program is stored in a storage device or the like to another computer system via a transmission medium or by transmission waves in the transmission medium. Here, the “transmission medium” for transmitting the program is a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.
In addition, the above program may be for realizing a part of the functions described above. Furthermore, the program described above may be a so-called difference file (difference program) that can realize the functions described above in combination with the program already recorded in the computer system.

DESCRIPTION OF SYMBOLS 1 ... Robot system, 20, 20a ... Robot, 30 ... Information processing apparatus, 40 ... Robot control apparatus, 31, 41 ... Processor, 32, 42 ... Memory, 33 ... Input reception part, 34, 44 ... Communications part, 35 ... Display unit 36, 46: Control unit, 361: Display control unit, 363: Processing unit, 365, 465: Communication control unit, 461: Program processing unit, 463: Path generation unit, 467: Robot control unit

Claims (10)

With the robot,
A robot control device for controlling the robot;
An information processing apparatus connected to the robot control apparatus via a line;
A robot system comprising
The information processing apparatus is
An information processing apparatus connected via a line to a robot control apparatus that controls a robot,
The gripping information referred to by the operation program of the robot control device for operating the robot based on the operation program is output to the robot control device via the line.
The grip information includes information indicating a relative position between a grip target which is an object gripped by the robot and an end effector mounted on the robot.
Robot system. The information processing apparatus is
Outputting the gripping information to the robot control device via the line, and updating the gripping information stored in the robot control device;
The robot system according to claim 1. The information processing apparatus is
Acquiring motion information indicating the motion of the robot based on the motion program and the grip information, and displaying an image according to the obtained motion information;
A robot system according to claim 1 or 2. The information processing apparatus is
The robot control apparatus acquires information in which information indicating a position of an object located around the robot and indicating a position detected by the robot control device is associated with information indicating an object according to the object. And displaying an image indicating a relative positional relationship between the object and the robot based on the acquired information indicating the position and the information indicating the object, and the object information which is information on the object stored in advance. ,
The robot system according to any one of claims 1 to 3. The grip information includes information indicating a relative posture between the grip target and an end effector mounted on the robot.
The robot system according to any one of claims 1 to 4. The grip information includes information indicating an open / close amount of a finger provided to an end effector mounted on the robot.
The robot system according to any one of claims 1 to 5. The grip information includes information indicating a relative position and posture between a portion representing the position and posture of the grip target and a portion designated among the portions of the grip target.
The robot system according to any one of claims 1 to 6. An information processing apparatus connected via a line to a robot control apparatus that controls a robot,
The gripping information referred to by the operation program of the robot control device for operating the robot based on the operation program is output to the robot control device via the line.
The grip information includes information indicating a relative position between a grip target which is an object gripped by the robot and an end effector mounted on the robot.
Information processing device. In a computer of an information processing apparatus connected via a line to a robot control apparatus that controls a robot,
A program for causing the robot control device to output gripping information referred to by the operation program of the robot control device for operating the robot based on the operation program, via the line.
The grip information includes information indicating a relative position between a grip target which is an object gripped by the robot and an end effector mounted on the robot.
program. An information processing apparatus connected via a line to a robot control apparatus that controls a robot,
Equipped with a processor
The processor is
The gripping information referred to by the operation program of the robot control device for operating the robot based on the operation program is output to the robot control device via the line.
The grip information includes information indicating a relative position between a grip target which is an object gripped by the robot and an end effector mounted on the robot.
Information processing device.

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