Abstract: A robot programming device capable of significantly reducing operation time by an operator required for designating processed portions, and generating a robot program for moving a robot between each processed portion in an appropriate order, without depending on skill or experience of the operator. The programming device is configured to: locate three-dimensional models of a robot and a workpiece in a virtual space; extract shape features from the three-dimensional model of the workpiece; set reference positions of the shape features and the robot; determine a movement order for moving the robot between the shape features based on the reference positions, based on the reference positions of the shape features and the robot; and generate a motion program so that the robot moves the tool along the shape feature and the robot is moved between the shape features according to the determined movement order.

Abstract: A robot teaching device for teaching a robot offline, capable of setting target, advance and rotation angles of a tool, so that a flat and stable posture of the tool can be obtained. The teaching device has: a storing part which stores a combination of a plurality of processing portion shapes and the target and advance angles associated with each processing portion; a first setting part which sets the target and advance angles associated with the selected processing portion shape, as target and advance angles with respect to the designated processing portion shape; and a second setting part which rotates the tool about a longitudinal axis thereof while maintaining the target and advance angles, so as to calculate the rotation angle of the tool, wherein a height of a face plate of the robot from a horizon plane in the virtual space is maximum at the rotation angle.

Abstract: A robot simulation system includes a first plane calculation part which calculates a group of first planes extending through focal points of two camera models and divide the fields of vision of the two camera models at equal intervals when capturing a measurement region, a second plane calculation part which calculates a group of second planes which intersect the first planes and extend along boundaries of light-dark contrast formed on the measurement region with stripe shaped patterns of light from the projector model, an intersecting line calculation part which calculates a plurality of intersecting lines between the first planes and the second planes, a three-dimensional information calculation part which calculates positions of intersecting points between the intersecting lines and surfaces of the workpiece models as three-dimensional information, and a position and posture calculation part which calculates positions and postures of the workpiece model based on the three-dimensional information.

Abstract: A data generation device and a detection simulation system, capable of executing offline simulation using a vision sensor, without calibration for associating the vision sensor with the robot. The device has: a placing part which places three-dimensional models of a robot, a vision sensor and an object in a virtual space; a robot placement position designating part and a vision sensor placement position designating part which designate placement positions of the robot and the vision sensor in the virtual space, respectively, based on a reference coordinate system defined in the virtual space; a placement position storing part which stores the placement positions; a positional relationship calculating part which calculates a positional relationship between a robot coordinate system and a sensor coordinate system; and a positional relationship storing part which stores the positional relationship as data used in a detection process of the vision sensor.

Abstract: An operation simulation system of a robot system for simulating operation of a robot system having a robot on a computer, including a setting unit setting a movement point moving together with a moving member, linked with the moving member which is included in the robot system and moves in accordance with a predetermined program; a data acquisition unit acquiring time series position data of the movement point when operating the robot system in accordance with the program on the computer; an image generation unit generating an image of the robot system operating in accordance with the program on the computer and generating an image of a movement path of the movement point based on the time series position data acquired by the data acquisition unit; and a display unit displaying the robot system image and the movement path image generated by the image generation unit.

Abstract: A simulation apparatus includes: a robot model arranging unit that arranges a robot model on a virtual space; a configuration information storage unit that stores configuration information of a robot system; a transport device arrangement position calculating unit that calculates a transport device arrangement position based on a follow-up operation reference coordinate system related to a follow-up operation of a robot, included in the configuration information; and a detection unit arrangement position calculating unit that calculates a detection unit arrangement position based on the follow-up operation reference coordinate system.

Abstract: A robot programming apparatus includes a virtual space creation unit for creating a virtual space that expresses a work space in three dimensions; a target portion designation unit for designating a target portion whose image is to be captured by an image pickup device, on a workpiece model arranged in the virtual space; a position determination unit for determining at least one position of the image pickup device for capturing the image of the target portion in the virtual space; a position storage unit for storing the at least one position of the image pickup device; and an image pickup program creation unit for creating an image pickup program to be taught to a robot so that the image pickup device captures the image of the target portion according to the at least one position of the image pickup device stored in the position storage unit.

Abstract: A robot teaching device for teaching a robot offline, capable of setting target, advance and rotation angles of a tool, so that a flat and stable posture of the tool can be obtained. The teaching device has: a storing part which stores a combination of a plurality of processing portion shapes and the target and advance angles associated with each processing portion; a first setting part which sets the target and advance angles associated with the selected processing portion shape, as target and advance angles with respect to the designated processing portion shape; and a second setting part which rotates the tool about a longitudinal axis thereof while maintaining the target and advance angles, so as to calculate the rotation angle of the tool, wherein a height of a face plate of the robot from a horizon plane in the virtual space is maximum at the rotation angle.

Abstract: A robot simulation system includes a first plane calculation part which calculates a group of first planes extending through focal points of two camera models and divide the fields of vision of the two camera models at equal intervals when capturing a measurement region, a second plane calculation part which calculates a group of second planes which intersect the first planes and extend along boundaries of light-dark contrast formed on the measurement region with stripe shaped patterns of light from the projector model, an intersecting line calculation part which calculates a plurality of intersecting lines between the first planes and the second planes, a three-dimensional information calculation part which calculates positions of intersecting points between the intersecting lines and surfaces of the workpiece models as three-dimensional information, and a position and posture calculation part which calculates positions and postures of the workpiece model based on the three-dimensional information.

Abstract: A robot programming device (10) includes: a processing line designating unit (21) that designates a processing line (41); an operation mode designating unit (22) that designates an operation mode of the teaching point; a program generation unit (23) that generates a program for a robot (12) based on the processing line and the operation mode; an interference target designating unit (24) that designates a tool non-processing part as an interference target; an interference detection unit (25) that detects interference between the robot and the workpiece, at a teaching point; a non-interference position search unit (26) that searches for a non-interference position; and a correction unit (27) that corrects a position of the teaching point based on a search result.

Abstract: A robot programming apparatus includes a virtual space creation unit for creating a virtual space that expresses a work space in three dimensions; a target portion designation unit for designating a target portion whose image is to be captured by an image pickup device, on a workpiece model arranged in the virtual space; a position determination unit for determining at least one position of the image pickup device for capturing the image of the target portion in the virtual space; a position storage unit for storing the at least one position of the image pickup device; and an image pickup program creation unit for creating an image pickup program to be taught to a robot so that the image pickup device captures the image of the target portion according to the at least one position of the image pickup device stored in the position storage unit.

Abstract: A data generation device and a detection simulation system, capable of executing offline simulation using a vision sensor, without calibration for associating the vision sensor with the robot. The device has: a placing part which places three-dimensional models of a robot, a vision sensor and an object in a virtual space; a robot placement position designating part and a vision sensor placement position designating part which designate placement positions of the robot and the vision sensor in the virtual space, respectively, based on a reference coordinate system defined in the virtual space; a placement position storing part which stores the placement positions; a positional relationship calculating part which calculates a positional relationship between a robot coordinate system and a sensor coordinate system; and a positional relationship storing part which stores the positional relationship as data used in a detection process of the vision sensor.

Abstract: An off-line programming system (10) which includes a three-dimensional shape arranging unit (27) which fills in a curved surface or consecutive plurality of flat surfaces of a selected three-dimensional shape by selected operation patterns and arranges a three-dimensional shape in a virtual space so that the operation patterns will be projected on surfaces of the workpiece model, a working path preparing unit (28) which projects operation patterns on the surfaces of the workpiece model so as to prepare a working path of the tool, and a tool position/posture determining unit (29) which uses the prepared working path and normal direction of the surface of the workpiece model as the basis to automatically determined the position or position/posture of the tool model.

Abstract: An off-line programming system (10) which includes a three-dimensional shape arranging unit (27) which fills in a curved surface or consecutive plurality of flat surfaces of a selected three-dimensional shape by selected operation patterns and arranges a three-dimensional shape in a virtual space so that the operation patterns will be projected on surfaces of the workpiece model, a working path preparing unit (28) which projects operation patterns on the surfaces of the workpiece model so as to prepare a working path of the tool, and a tool position/posture determining unit (29) which uses the prepared working path and normal direction of the surface of the workpiece model as the basis to automatically determined the position or position/posture of the tool model.

Abstract: An operation simulation system of a robot system for simulating operation of a robot system having a robot on a computer, including a setting unit setting a movement point moving together with a moving member, linked with the moving member which is included in the robot system and moves in accordance with a predetermined program; a data acquisition unit acquiring time series position data of the movement point when operating the robot system in accordance with the program on the computer; an image generation unit generating an image of the robot system operating in accordance with the program on the computer and generating an image of a movement path of the movement point based on the time series position data acquired by the data acquisition unit; and a display unit displaying the robot system image and the movement path image generated by the image generation unit.

Abstract: A robot programming device (10) includes: a processing line designating unit (21) that designates a processing line (41); an operation mode designating unit (22) that designates an operation mode of the teaching point; a program generation unit (23) that generates a program for a robot (12) based on the processing line and the operation mode; an interference target designating unit (24) that designates a tool non-processing part as an interference target; an interference detection unit (25) that detects interference between the robot and the workpiece, at a teaching point; a non-interference position search unit (26) that searches for a non-interference position; and a correction unit (27) that corrects a position of the teaching point based on a search result.

Abstract: A processing robot program generating device used in a robot system having a vision sensor, capable of accommodating an error in the shape of a workpiece and reducing man-hours required for a teaching operation. Image detection models are generated in a graphic image of a workpiece viewed from a virtual camera. A processing program including data of teaching points for processing segments of a processing line of the workpiece is generated. A detection program for actually imaging the workpiece is generated, and the position and orientation of each segment corresponding to each detection model generated are detected. A command line, for calculating an amount of change between the detection model and the actually captured image of the workpiece, is added to the processing program. Then, a correction program is inserted into the processing program, the correction program being capable of correcting the teaching point for processing each segment.