JPH0699376A - Method and system for teaching robot track - Google Patents

Abstract

PURPOSE:To provide a method and a system for teaching a robot track of efficiently producing track information of small error by reducing a burden as small as possible of a user who inputs the information edited relating to the robot track. CONSTITUTION:A device has a computer system 100 having a display unit, track information assigning means 201 for assigning robot information assigned on a picture plane in the display unit 101 to change a visual image based on changing operation relating to a robot track in an assigned position and a pointing unit 200 connected to the computer system.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and system for teaching a robot trajectory, and more particularly to a robot teaching technical field, a robot manipulator control technical field,
Also, it belongs to the field of human interface technology related to human-machine interaction, and specifically, a robot work teaching device (information input interface device) that efficiently conveys to the robot the work that the robot user wants the robot to perform. A method and system for teaching a used robot trajectory.

More specifically, the present invention relates to an improved method for efficiently generating trajectory information of a general machining operation having a trajectory according to the shape of a target work by a robot work teaching device based on the display of a computer. Is.

[0003]

2. Description of the Related Art Conventionally, there are a direct teaching method, a remote teaching method, an indirect teaching method, and an offline teaching method for teaching position / orientation information in robot trajectory teaching (cited document: "Robot Engineering Handbook", The Robotics Society of Japan). Edited by 1990, published by Corona Publishing Co., pp.519-52
9).

The above-mentioned first conventional direct teach method is a method of directly moving the arm portion of the robot. The above-mentioned second conventional method, the remote teach method, is a method of teaching at a place away from the robot body without directly touching the robot arm with a teaching device called a teaching pendant. In the above-mentioned third conventional method, the indirect teach method, a manipulation arm dedicated to teaching is prepared, and the hand portion of this arm is operated so as to move along a required path. This is a method of teaching the robot by storing it. The above-mentioned fourth conventional method, the offline teach method, is a method of teaching away from the actual work environment without using a robot that actually performs the work. This method has an advantage in that it is possible to generate a trajectory of the robot by using the geometrical shape information of the work whose shape has already been designed, and thus to significantly reduce the burden on the operator.

[0005]

However, in any of the above-mentioned first to third conventional methods, the entered trajectory information is first displayed, and in order to carry out the changing work, the trajectory information represented by numerical values is used. It is displayed on the character display device, and the user needs to specify the displayed line and change the numerical value. Therefore, the user has to find a teaching point at a desired position from the information of the teaching point expressed by a numerical value, which has a drawback of compelling the user. In order to correct the teaching point to the desired position / orientation, it is necessary to change the numerical value directly or to retrieve new data of the point again by using the above teaching method, which complicates the operation. Beckoning
This may reduce the efficiency of teaching work.

Further, since the above-mentioned fourth conventional method, the offline teach method, presupposes the geometrical shape information of the work already generated by CAD or the like in the trajectory teaching, the shape information of the work by CAD is used. It is difficult to apply to difficult work.

When the trajectory generated by the off-line teach method is operated in a real work environment, the manipulator,
Errors often occur due to error factors in the actual environment such as jigs and workpieces. In order to reduce the error, measures such as meticulous calibration of the manipulator are taken, but the absolute accuracy driven by the calibration is generally large compared with the repeat accuracy of the manipulator, and actual matching is necessary. The correction of the orbit by matching the actual products requires a complicated operation as in the above direct teach method.

Furthermore, the shorter the update cycle of the manufacturing line to accommodate a new product, the larger the ratio of the drive cost of the robot trajectory teaching becomes, and the efficiency of the trajectory teaching becomes a problem. Due to the above error in the actual environment, the editing / adjustment work that edits the first input trajectory into the final trajectory accounts for a large proportion of the entire trajectory teaching, and the improvement of the human interface in this part has a great effect. .

Further, the above-mentioned conventional methods all teach the position / orientation information of the manipulator, and in addition to the position / orientation of the work of the robot, a force target and a relative softness between the manipulator and the work. It is not possible to directly give the information associated with the exercise such as the compliance matrix for setting the height.

In any of the methods, there is no choice but to insert a parameter setting command before or after the command for giving the position / orientation of the teaching point, or to give it as an argument of the command giving the teaching point. Editing the information associated with such exercise is generally performed by selecting the command line using a text editing editor and rewriting the line, which requires labor to search and select the command line. Further, since similar commands appear in many places, there is a problem that it takes time to find a command to be really corrected, or there are many errors.

The present invention has been made in view of the above points,
Provided is a method and system for solving the above problems, reducing the burden on a user for inputting / editing information relating to a robot trajectory as much as possible, and teaching a robot trajectory that efficiently generates trajectory information with few errors. The purpose is to

[0012]

FIG. 1 shows a principle explanatory diagram of the present invention, and FIG. 2 shows a principle configuration diagram of the present invention.

The present invention is a method for creating a trajectory of a robot using a computer system having a display device, wherein the shape information of the work and the shape information of the work are stored in the display device of the computer system. The contact point trajectory information connecting the contact points forming the edge and the robot trajectory information are simultaneously converted into a visual image and displayed, and based on the change operation to the robot trajectory information specified by the user on the screen of the display device. Display a visual image of the edited robot trajectory information.

Further, according to the present invention, in a method of creating a trajectory of a robot by using a computer system having a display device, the display colors of the trajectory from the start point to the end point of the trajectory of the robot are continuously displayed. Displayed on the display device.

The present invention is a computer having a display device.
In a method of creating a trajectory of a robot using a system, the trajectory from the start point to the end point of the trajectory of the trajectory is blinked and displayed on a display device while sequentially changing the brightness.

According to the present invention, in a method of creating a trajectory of a robot by using a computer system having a display device, natural constraint information and artificial constraint information of a motion at a teaching point constituting robot trajectory information are used as teaching points. It is edited based on the operation of changing the artificial constraint information and the natural constraint information specified by the user on the display screen by displaying the natural constraint information at the teaching point and the artificial constraint information on the display device. Display natural restraint information and artificial restraint information.

According to the present invention, in a method for creating a trajectory of a robot by using a computer system having a display device, the teaching point information constituting the robot trajectory information includes accuracy information regarding the position of the teaching point, The accuracy of the position at the teaching point is displayed on the display screen, and the accuracy information edited based on the operation of changing the accuracy information designated by the user on the display screen is displayed.

The present invention is a method for creating a trajectory of a robot by using a computer system having a display device and a pointing device, wherein the contact point or trajectory on the trajectory displayed on the display device of the computer system is displayed. Select the teaching point with the pointing device, display the attribute information of the contact point or the teaching point on the trajectory, rewrite the attribute information as necessary, input the rewritten attribute information, and based on the rewritten attribute information Generate a robot trajectory.

The present invention is a method for creating a trajectory of a robot by using a computer system having a display device and a pointing device, which is a trajectory of a contact point displayed in the display device of the computer system or the robot. Select all or part of the trajectory and perform an arbitrary change operation by the user, and according to the user's arbitrary change operation the attributes of all contact points and teaching points included in the selected contact point trajectory or robot trajectory Change and display.

According to the present invention, the visual image converting means for simultaneously converting the shape information of the work, the contact point trajectory information of the tool and the robot trajectory information into a visual image in the display device of the computer system and the image conversion means. A computer system having a display device including an image display means for displaying the displayed image, and robot trajectory information designated on the screen is designated on the display device, and the visual information is displayed based on the operation of changing the robot trajectory at the designated position. And orbit information designating means for changing the target image, and a pointing device coupled to the computer system.

[0021]

According to the present invention, a computer system having a display device is utilized to simultaneously convert and display the shape information of the work, the work, contact point trajectory information, and robot trajectory information into a visual image in the display device, By performing a change operation on the displayed information and displaying the changed information in the display device, three types of information of the work shape information, contact point trajectory information, and trajectory information are displayed. It is possible to always grasp the change caused by the correction / editing operation of, and input while confirming the spatial positional relationship with the work shape.

Further, according to the present invention, the display color from the start point to the end point of the trajectory of the trajectory displayed on the display device is continuously changed and displayed, and further, the teaching from the start point to the end point is performed. The point position is continuously displayed by blinking by converting the brightness.
This allows the user to easily understand the spatial position of the trajectory and the direction of travel. Further, by continuously changing the display color from the start point to the end point of the locus or by blinking the orbit order, it is possible to operate while grasping the advancing direction of the orbit.

Further, according to the present invention, as the attribute of the teaching point information, the natural constraint information such as the attractive force of motion and gravity and the artificial constraint information other than the natural constraint information are held, and the information is edited to control the motion. Can be decomposed into 6 degrees of freedom in the local coordinate system around the action point and specified in detail, and the work teaching of the contact copying work having the contact point or the sensor feedback work can be facilitated.

Further, according to the present invention, accuracy information relating to the position of the teaching point is held as an attribute of the teaching point information, and the accuracy information is stored for editing so that the user can correct / edit the position of the teaching point. With reference to the uncertainty factors such as shape variation and position variation of the object that can occur when the manipulator moves along the trajectory, generate an actual trajectory based on the accuracy information about the position of the teaching point. Therefore, it is possible to teach the robot manipulator while dealing with the uncertain factor.

Further, by selecting a teaching point or a touch point with the pointing device and using a user interface for rewriting the attribute value using a dialog box for changing the position, each teaching on the trajectory by the user is performed. This makes it easy to specify attribute values related to speed and posture at points, facilitates grasping spatial positions of points, and reduces the burden of point selection work and trajectory editing work.

Further, according to the present invention, all or part of the contact point trajectory and the robot trajectory are collectively selected, and the attributes of the contact point trajectory and the teaching point included in the robot trajectory are corrected / changed. By doing so, it is possible to perform batch correction of attributes such as position, posture, speed, force, compliance, etc. at that point, correction with averaged values, correction with even division values, and reduce the burden of user's trajectory correction work. To do.
In addition, select multiple points on the trajectory or action point trajectory,
The average value of the attributes such as position, posture, speed, etc. of the selected point group is calculated between the selected point groups, and the smoothing operation that rewrites all the attributes of the selected point group with that value, and the start and end points of the point group An average interpolation operation that gently absorbs changes in attribute values between point clouds,
And changing the density of the point cloud between the start point and the end point to increase or decrease the point cloud and smooth the attribute values of the point cloud or give a density change operation by average interpolation. The batch operation is provided by the command specification interface such as menu. As a result, a smooth trajectory can be easily created, and it is possible to reduce the user's trajectory teaching operation.

[0027]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A trajectory teaching method and system of the present invention will be described below with reference to the drawings.

FIG. 3 shows a computer of an embodiment of the present invention.
The configuration of the system and robot system is shown.

In the figure, the robot system comprises a robot manipulator 1, a sensor fixing jig 2, a laser range scanner 3 and an irradiation laser beam 4, and a computer system 5 comprises a display device 6, a keyboard 7, a keyboard connecting cable 8, It is composed of a mouse 9, a mouse connection cable 10, a processing device 11, a manipulator controller 12, and a computer connection cable 13.

Processor 11 of computer system 5
Preferably includes a graphic processor, a storage device, and a central processing unit (not shown), and a workstation is used in this embodiment. A display device 6, a keyboard 7, and a mouse 9 which is a graphic pointing device are connected to the processing device 11. Display device 6
May use a color monitor or a black and white monitor.
The keyboard 7 is preferably a standard computer keyboard and is connected to the processing unit 11 by a cable 8.

Although the mouse 9 is used as the graphic pointing device in the present embodiment, the present invention is not limited to this example, and any graphic pointing device such as a light pen, a touch screen, a trackball, a dial button or the like can be used. May be.

A laser range scanner 3 is connected to the tip of the robot manipulator 1. robot·
The manipulator 1 has an encoder (not shown) for each joint axis.
It is desirable to include. With the encoder, the position / orientation of the robot manipulator 1 can be obtained by kinematic calculation. The robot manipulator 1 is controlled in a damper mode, and an operator grips the laser range scanner 2 to make the robot manipulator 1 operate.
The laser range scanner 2 can be moved to any position / orientation within the manipulatable range. Laser range scanner 2
The workpiece 14 on the workpiece table 15 by moving the workpiece along the trajectory of the machining operation and irradiating the laser light during the movement.
Measure the shape of.

The information indicating the shape of the work obtained by irradiating the laser light once is called frame information. The position / orientation of the laser range scanner 2 when the laser light is emitted is determined by the value of the encoder included in the robot manipulator 1 at that time. The measured sensor information and the position / orientation information of the laser range scanner 2 are transferred to the computer system 5.

The computer system 5 calculates the position information of the surface of the shape of the work in the world coordinate system by calculating the measured frame information and the position / orientation information of the laser range scanner 2. The positional information on the surface of the work 14 is called a surface model.

In the present invention, the robot manipulator 1 and the laser range scanner 2 are used to obtain the surface model of the work shape. In order to realize the present invention, a CAD (Computer Aided Design) system or
Any method for generating a surface model such as a three-dimensional laser digitizing system may be used to implement the method of the present invention.

The robot manipulator 1 is connected to a manipulator controller 12, and the manipulator controller 12 is connected to the computer system 5.
The robot manipulator 1 is controlled based on the position / orientation target values of the robot transferred from

In the present embodiment, the robot manipulator 1 is a 6-degree-of-freedom vertical articulated robot, but any robot manipulator capable of controlling the wrist at a target position / posture may be used.

FIG. 4 is a diagram for explaining the operation of one embodiment of the present invention.

A computer display screen 16 is displayed in FIG. On this computer display screen 16, a main display window 17, a menu bar 18, a pull-down menu 19, a mouse cursor 20, a coordinate icon 21,
Tool editing sub window 23, frame editing sub window 24, shape editing sub window 25, selection button 26, selection button group 27, frame information 28, contact point trajectory 29, robot trajectory 30, multiple object selection line segment 40, anchor point 41, A multiple object selection line segment designation point 42 is shown.

In the main display window 17 of the display screen 16, a large number of frame information obtained from the target work 14, a contact point trajectory 29 connecting the contact points defined in each frame information, and a robot trajectory. 30 is displayed. The frame information is composed of observation point groups included in the surface model, and the observation point groups included in this frame information are connected in order. In this embodiment, points constituting the edge of the work 14 in the frame information are contact points, and the contact point locus 29 is displayed by sequentially connecting the contact points.

The surface model of the work 14 is displayed by using any display method such as a plane patch method such as a triangular patch in addition to the display using a plurality of frame information as in the present embodiment. You may.

Next, when the mouse cursor 20 moves to a predetermined position on the menu bar 18, the mouse 9 is clicked to display the pull-down menu 19. The user specifies a command by selecting the command included in the pull-down menu 19 with the mouse cursor 20. As a command selection method, the present invention may be implemented by using a designation method based on another graphical user interface of the pull-down menu as in the present embodiment.

From the above, the command selection method is a so-called graphical interface standard, for example,
The present invention may be implemented using a tool box proposed by Apple Inc. or OSF / Motif proposed by Open Software Inc. The selection button group 27 is
It is composed of a plurality of selection buttons 26. The selection button 26 is used, for example, to specify whether to display frame information or not. In addition to the selection button, any user interface such as a menu dialog box may be used to specify the display on / off.

Next, the operation will be described.

The user has a damper-controlled manipulator selection section so that the laser range scanner 3 always includes a locus which should become a contact point locus on the work 14 in the scan area of the laser range scanner 3. Move 1 As for the movement of the manipulator 1, the manipulator 1 may be moved on a rough trajectory set by the user.

The laser range scanner 3 moves the work 14 at a constant interval or at a timing specified by the user while moving.
Measure the shape of. The information measured by the laser range scanner 3 at one time is called frame information (not shown). The position / orientation information of the laser range scanner 3 in the world coordinate system at the time when the frame information is measured is generated based on the information of the encoder (not shown) installed in each joint of the manipulator 1. This position / orientation information is called robot position / orientation information. Whether the measured frame information and robot position / orientation information are sequentially transferred to the computer system 5,
Alternatively, the information during the movement is stored and collectively transferred to the computer system 5 after the end of the exercise.

The computer system 5 converts the frame information into the world coordinate system based on the transferred frame information and the robot position / orientation information, and displays it in the main display window 17 as frame information 28. Main display window 17
The frame group displayed in can be used by the user as shape information representing the shape of the work 14. The frame information 28 includes contact points. The user defines one contact point for each frame information through the user interface, and further displays a chain of contact point information as a contact point trajectory in the main display window 17. For this contact point locus, the user inputs the regulation of the trajectory based on the contact point locus using the user interface.

The shape point locus and the trajectory are composed of a shape point and a teaching point, respectively. In the display screen 16, frame information 28, shape points, shape restrictions 29, teaching points, orbits 30 and the like are selection targets. The selection in this case is performed by operating the mouse 9 to bring the mouse cursor 20 moving in the screen over the selection target, and then clicking the button of the mouse 9. The position / orientation of the selected target is operated by operating the mouse 9. The position / orientation operation may be performed using a multidimensional data input device other than the mouse 9.

The trajectory has a directivity from the start point to the end point, and in this embodiment, the display color of the teaching point is gradually changed from the start point to the end point as follows.

Start point = (Xs, Ys, Zs) End point = (Xe, Ye, Ze) Here, (X, Y, Z) represent the intensities of the three primary colors of red, green and blue, respectively, and 0 is set. The minimum is 255 and the maximum is 255.

For the points between the start and end points, the following colors are given.

Teaching point (i) = ((Xs + ix (Xe−Xs) / n), (Xs + ix (xe−Xs) / n), (Xs + ix (Xe−Xs) / n)) where i = 1, n In the embodiment, Xs = 255, Ys = 0, Zs = 0, X
Let e = 0, Ye = 255, and Ze = 0. In this example, the starting point is red and the ending point is blue.

By gradually changing the color from the start point to the end point as the teaching point progresses, the user can easily understand the signal direction of the trajectory.

The color change may be any combination of the colors of the start point and the end point as long as the color can be easily distinguished by the user even in the interpolation from red to blue as in the present embodiment. Also, the method of changing the color of the teaching point on the way may be realized by any method other than the method of this embodiment, as long as the method gradually changes the color.

As another embodiment, the menu bar 1
For example, if you press the mouse button to select the menu named "Display" in 8 and click the command "Blink Display" in the menu while holding it down and select the "Blink Display" command. , The teaching points are highlighted in order in the traveling direction from the start point to the end point of the trajectory. The highlight is obtained, for example, by giving the maximum brightness as the color of the teaching point. This allows the user to easily understand the signal direction of the trajectory.

With the teaching point selected, the menu bar 18
For example, if you click the "Edit attribute" command with the mouse button pressed to select the menu "Object" in the menu, the attribute edit dialog will be displayed on the main teaching window 17, and the user will At the same time that the attribute of the teaching point can be read, the attribute value is input / corrected by operating the mouse 9 and selecting the attribute value with the mouse cursor 20.

FIG. 5 shows an example of the attribute edit dialog window according to the embodiment of the present invention.

The dialog window includes a dialog window frame 38, an attribute designation / display frame 31, an up / down button 32, an acceleration type up / down button 33, a control bar 34, a slider 35, a work motion model designation / display frame 36, a reliability designation / It is composed of a display frame 37.

The user reads the position / orientation information, the velocity information, the work motion model, the position / orientation reliability information, and the like at the teaching point, if the attribute values are already given through the attribute edit dialog. be able to. If not given, enter the attribute value. Further, each attribute value of the attribute edit dialog can be modified or changed.

X, Y, Z of the position / orientation information represents the position of the teaching point in world coordinates, and the up / down button 32 can be clicked with the mouse 9 to increase / decrease the attribute value. Acceleration side up / down button 33
Has the same function as the up / down button 32, but increases / decreases the attribute value with a larger change rate.

Of the position / orientation information, O, A, and T represent Euler angles that represent the orientation of the local coordinates at the taught point with respect to the orientation of the world coordinates. In order to correct / edit this Euler angle, the attribute value can be specified by changing the slider 35 of the control bar 34 to the left or right in addition to the method of directly specifying the attribute / rewriting the display frame.

For example, the work motion model given using the work motion model designation / display frame 36 is described in the document “K. Kubota:“ Co.
mponent Feature Model for Robot Tasks ”, Proceedi
ngsof Internatinal Workshop on Intelligent Robots
and Systems IROS'91, vol.2, pp619-624, 1991 ”, there is a motion correction model called a CF model.

FIG. 6 is a diagram showing an example of spray coating. This figure is an example of spray painting work reproduced from the above paper. The motion during this spray painting operation is represented by the following correction model. 0,0,0,0,0,0, V (t), V (t), V (dist), V (dist), V (disk), Vfree, 0,0,0,0,0,0 (1) In the work motion model designation / display frame 36, the character string shown in the equation (1) is input. The teaching system defines a motion control law with 6 degrees of freedom based on the input work motion model,
A desired robot motion is realized by activating a control program according to the control law.

In the position / orientation reliability designation / display frame 37, the position / orientation reliability of the teaching point is entered in percentage format.

In this embodiment, the mouse 9 is operated to
With a plurality of teaching points or point objects such as action points displayed in the main display window 17 selected, for example, by clicking the mouse button on the menu "Edit" in the menu bar 18 and selecting 9
While holding down the button, click the command "smoothing" in the menu and select the command "posture smoothing" from the submenu. As a result, the trajectory editing system uses the attribute values of the start point and the end point of the point group to find the arithmetic sequence according to the number of point groups, and performs the average interpolation to rewrite the attribute of each point with the value. When the attribute changes the display screen, the display screen is rewritten according to the command operation.

Similarly, when the command "velocity smoothing" is selected, the trajectory editing system obtains the average value of the velocity attributes of the point group, and the velocity attribute of each point is rewritten with the average value to perform smoothing.

FIG. 7 shows a flow chart for explaining a series of operations of one embodiment of the present invention.

Step 10: Menu bar 1 of display device
From 8, the user menu on the screen of the main display window 17 is selected to detect the point object.

Step 11: If "edit" is designated as the attribute, the process proceeds to step 12, and if not "edit", the process returns to step 10.

Step 12: The display device displays the edit attribute dialog box display 19.

Step 13: Detect the command specified by the user.

Step 14: It is judged whether or not a candidate group menu display request has been made. If not, the process proceeds to step 17.

Step 15: If there is a request for displaying the candidate group menu, the display device displays the candidate group menu.

Step 16: It is detected that the control law is designated, and the routine goes to Step 20.

Step 17: It is judged whether the control law is designated, and if it is designated, the routine proceeds to step 20.

Step 18: When the control law is not designated, it is judged whether or not the information on the accuracy of the position of the teaching point is designated, and when it is not designated, the routine proceeds to Step 13.

Step 19: When the information on the accuracy of the position of the teaching point is designated, the accuracy data of the position of the teaching point is rewritten.

Step 20: When the control law is designated in step 17, the control law data is rewritten according to the designated attribute.

As described above, according to the present invention, first, in order to display the three types of information of the shape information of the work, the locus of the contact point, and the trajectory information, the operation for the correction / editing operation of the trajectory of the user is performed. It is possible to input work instructions while always grasping the changes caused by and checking the spatial positional relationship with the work shape.

Secondly, the display color between the start point and the end point of the trajectory can be continuously changed, or the orbital sequence can be displayed by blinking, and the operation can be performed while grasping the traveling direction of the orbit.

A third method is to specify the motion control law by decomposing it in a local coordinate system around the point of action by utilizing the relationship between the natural motion constraint and the artificial constraint. The attribute of the teaching information can be specified in detail.

Fourthly, as the attribute of the teaching point information, by inputting / editing the accuracy regarding the position of the teaching point as the attribute of the teaching point information, the manipulator 1 can be a target that may occur when moving along its trajectory. With respect to uncertain factors such as shape change and position change of the object, the actual trajectory is generated based on the accuracy information regarding the position of the teaching point.

Fifth, by editing the attribute value using the dialog box using the mouse button for editing the speed / posture and selecting the teaching point, the attribute value relating to the speed / posture at each teaching point can be displayed. Easy to specify.

Sixthly, a plurality of points on the trajectory or action point locus are selected, and the position / orientation / position of the selected point group is selected.
The speed-based attribute is calculated as an average value between the selected point groups, and the value is used to rewrite all the attributes of the selected point group, and the change in the attribute values at the start and end points of the point group is smoothly absorbed between the point groups. Menus such as average interpolation operation, change point cloud density between start point and end point, increase / decrease point cloud, smooth operation of point cloud attribute value, change point cloud density, etc. Create a smooth trajectory by specifying the command.

[0085]

As described above, according to the present invention, the user can easily input the work shape required for trajectory generation in the form of frame information, and in addition to the shape information,
Information indicating the directionality from the start point to the end point in the form of frame order can also be input at the same time. Further, in the present invention, since the trajectory of the manipulator is generated based on the frame information, even if the user does not input while maintaining the accurate position of the robot, the contact point is at most in the measurement area of the laser range scanner. Since it may be moved so that the user can enter, it is possible to reduce the burden on the user of the trajectory teaching.

Further, the user can understand the shape of the work 14 by the frame information displayed on the display screen, and the contact point trajectory obtained by processing the frame information and the contact point trajectory can be created based on the contact point trajectory. It is possible to confirm the three types of information of the obtained trajectory information at the same time while comparing their positions and orientations on the display screen. As a result, the user can easily understand the spatial positional relationship of the three types of information, and can efficiently create the trajectory information that is the final output information.

Next, according to the present invention, the teaching color from the starting point to the ending point of the locus is continuously changed in an equal and continuous manner from red to blue or the like, and is displayed to select, for example, a certain teaching point. When doing, the user can easily understand which direction the manipulator moves from the teaching point, and the misunderstanding regarding the trajectory can be reduced. Further, even when selecting a teaching point on a trajectory that is close in space, the teaching point that the user is trying to select can be clearly determined from the color difference, and the selection operation becomes easy.

Further, according to the present invention, since the teaching points from the start point to the end point can be blinked by changing the light intensity one after another by the command selection, the user can see the direction of the trajectory. You can check the accuracy of the created trajectory by following with.

Further, according to the present invention, the control law of motion is decomposed in the local sitting system around the action point by using the relationship between the natural constraint and the artificial constraint of the motion as in the CF model through the attribute edit dialog box. Since the method of designating the robot is adopted, the user can finely designate the control law of the motion of the robot work as the attribute of the teaching point. Further, in the dialog box, a group of CF model candidates to be designated is displayed by a menu, and the user is allowed to select it, so that the user can easily designate the qualitative model of the work.

Next, in the present invention, the user can input and edit the accuracy regarding the position of the teaching point as the attribute of the teaching point information as the attribute of the teaching point information through the attribute editing dialog box. Therefore, for manipulators that generate real trajectories based on accuracy information about the position of the display point for uncertain factors such as shape variation and position variation of the object that can occur when moving along the trajectory. Teaching becomes significantly easier.

Further, the mouse button is used to select the teaching point in the speed editing and the posture editing, and the velocity / information at each teaching point of the trajectory information is displayed by the user interface for rewriting the attribute value using the dialog box. The attribute value related to the posture can be easily specified, and the user's trajectory teaching operation amount can be reduced.

Further, according to the present invention, a plurality of points on the trajectory or the locus of action points are selected, and the attributes such as position, posture, and velocity of the selected point group are averaged among the selected point groups, A smoothing operation that rewrites all the attributes of the selected point cloud with that value, an average interpolation operation that gently absorbs changes in the attribute values of the start and end points of the point cloud, and a point cloud between the start point and end point. By changing the density, increasing / decreasing the point cloud, smoothing the attribute values of the point cloud or giving a density change operation by means of average interpolation Batch operation of the point attributes represented by three kinds of operations of density change operation is performed by the command specification interface such as menu. Since it is provided, it is possible to easily create a smooth trajectory and reduce the user's trajectory teaching operation.

[Brief description of drawings]

FIG. 1 is a diagram illustrating the first principle of the present invention.

FIG. 2 is a second principle configuration diagram of the present invention.

FIG. 3 is a configuration diagram of a computer system and a robot system according to an embodiment of the present invention.

FIG. 4 is a diagram for explaining the operation of the embodiment of the present invention.

FIG. 5 is a diagram showing an example of an attribute edit dialog window according to an embodiment of the present invention.

FIG. 6 is a diagram showing an example of spray coating.

FIG. 7 is a flowchart illustrating a series of operations according to an exemplary embodiment of the present invention.

[Explanation of symbols]

 1 Robot Manipulator 2 Sensor Fixture 3 Laser Range Scanner 4 Irradiation Laser Light 5 Computer System 6 Display 7 Keyboard 8 Keyboard Connection Cable 9 Mouse 10 Mouse Connection Cable 11 Processing Device 12 Manipulator Controller 13 Computer Connection Cable 14 Work 15 Work Platform 16 Computer display screen 17 Main display window 18 Menu bar 19 Pull-down menu 20 Mouse cursor 21 Coordinate icon 23 Tool editing sub-window 24 Frame editing sub-window 25 Shape editing sub-window 26 Select button 27 Select button group 28 Frame information 29 Contact point trajectory 30 Robot Orbit 38 Dialog window frame 31 Attribute specification / display frame 32 Up / down button 33 Acceleration Up-down button 34 the control bar 35 the slider 36 working motion model designation and display frame 37 reliability specified and display frame 100 computer system 101 display device 102 visual image converting means 103 image display means 200 pointing device 201 orbit information specifying unit

Claims (8)

[Claims] 1. A method of creating a trajectory of a robot by using a computer system having a display device, comprising the shape information of a work in the display device of the computer system and the work in the shape information. The contact point trajectory information connecting the contact points forming the edges of the robot and the robot trajectory information are simultaneously converted into a visual image and displayed, and the operation of changing the robot trajectory information specified by the user on the screen of the display device. A method for teaching a robot trajectory, characterized by displaying the visual image of the robot trajectory information edited based on. 2. A method for creating a trajectory of a robot by using a computer system having a display device, wherein the display color of the trajectory from the start point to the end point of the trajectory of the robot is continuously changed. The method for teaching a robot trajectory according to claim 1, wherein the robot trajectory is displayed on the display device. 3. A method of creating a trajectory of a robot by using a computer system having a display device, wherein the trajectory of the trajectory of the trajectory from the start point to the end point is sequentially changed to have the brightness changed. Flashing display on
A method for teaching a robot trajectory as described. 4. A method for creating a trajectory of a robot by using a computer system having a display device, wherein natural constraint information and artificial constraint information of a motion at a teaching point that constitutes the robot trajectory information are provided to the teaching point. Based on the artificial constraint information, which is included as attribute information, and which displays the natural constraint information at the teaching point and the artificial constraint information on the display device, and the natural constraint information designated by the user on the display device. The method for teaching the trajectory of a robot according to claim 1, wherein the edited natural constraint information and artificial constraint information are displayed. 5. A method for creating a trajectory of a robot using a computer system having a display device, wherein the teaching point information forming the robot trajectory information includes accuracy information regarding the position of the teaching point. The robot according to claim 1, wherein the accuracy of the position at the teaching point is displayed on the display screen, and the accuracy information edited based on the accuracy changing operation designated by the user on the display screen is displayed. A method for teaching trajectories. 6. A method for creating a trajectory of a robot by using a computer system having a display device and a pointing device, the teaching on a contact point or trajectory displayed in the display device of the computer system. A point is selected by the pointing device, the attribute information of the contact point or the teaching point on the trajectory is displayed, the attribute information is rewritten as necessary, the rewritten attribute information is input, and the rewritten attribute is input. A method for teaching a robot trajectory, the method comprising generating a robot trajectory based on information. 7. A method for creating a trajectory of a robot using a computer system having a display device and a pointing device, comprising a contact point trajectory or a robot trajectory displayed in the display device of the computer system. Select all or part of the above, perform any change operation by the user, and change the attributes of all contact points and teaching points included in the selected contact point trajectory or robot trajectory according to any change operation by the user. A method for teaching a robot trajectory, characterized by being changed and displayed. 8. The display device of the computer system simultaneously displays the shape information of the work, the contact point trajectory information connecting the contact points constituting the edge of the work in the shape information of the work, and the robot trajectory information at the same time. System having a display device including a visual image conversion means for converting into a static image and an image display means for displaying the image converted by the image conversion means, and a robot designated on the screen for the display device Specify orbit information,
Teaching a robot trajectory, characterized by having trajectory information designating means for modifying a visual image based on a modification operation on the robot trajectory at a designated position, and a pointing device coupled to the computer system. System for doing.