Abstract: A simulation apparatus acquires a position and an operating speed in each drive axis of the robot at a set point set for each minute section of a motion path of the robot when an operation program of a robot is executed. The simulation apparatus comprises a stop position estimation part that estimates a stop position where the robot is stopped after moving by inertia in each dive axis, based on the position in each drive axis of the robot, the operating speed in each drive axis, and the weight of the work tool, when an emergency stop of the robot is performed at the set point. The simulation apparatus comprises a swept space calculation part that calculates a swept space of three-dimensional models of the robot and the work tool based on the stop position.

Abstract: A robot simulation device for automatically generating a practical interference avoiding motion path, regardless of the level of skill of an operator. The device includes: a motion path obtaining part which obtains a first motion path by simulating a robot motion program; a teaching point specifying part which detects whether a robot interferes with a peripheral object on the first path, and specifies first and second teaching points immediately before and after the interference occurs, respectively; a motion path generating part which automatically inserts a third teaching point between the first and second points and generates second motion paths for avoiding the interference, based on a search direction and distance determined by a random number; an evaluating part which evaluates each second path based on a predetermined parameter; and a motion path selecting part which selects an optimum motion path from the second paths based on an evaluation result.

Abstract: A robot program generation apparatus includes an allowable jerk value setting unit for setting allowable jerk values to joints of a robot, a joint information calculation unit for simulating execution of a robot program in a virtual space and calculating positions and jerks of the joints in association with time, a jerks determination unit for determining whether or not the calculated jerk is an excess jerk exceeding the allowable jerk values, a joint information identification unit for identifying the joints and positions of the joints in which the excess jerks are generated, and a robot program adjustment unit for adjusting the robot program by modifying a teaching position within the neighborhood of the positions of the joints in which the excess jerks are generated so that the jerks of the identified joints become equal to or smaller than the allowable jerk values.

Abstract: A robot simulation device for automatically generating a practical interference avoiding motion path, regardless of the level of skill of an operator. The device includes: a motion path obtaining part which obtains a first motion path by simulating a robot motion program; a teaching point specifying part which detects whether a robot interferes with a peripheral object on the first path, and specifies first and second teaching points immediately before and after the interference occurs, respectively; a motion path generating part which automatically inserts a third teaching point between the first and second points and generates second motion paths for avoiding the interference, based on a search direction and distance determined by a random number; an evaluating part which evaluates each second path based on a predetermined parameter; and a motion path selecting part which selects an optimum motion path from the second paths based on an evaluation result.

Abstract: A robot simulation device includes, a model generation unit which generates a three-dimensional wire-shaped member model from a plurality of mass points and a plurality of spring elements, a focus point setting unit which sets a plurality of focus points on the wire-shaped member model, a simulation unit which performs a simulation of the behavior of the wire-shaped member associated with the operation of the robot using the wire-shaped member model, and a display unit which displays focus point images, together with wire-shaped member images, using position data of the plurality of mass points and position data of the plurality of focus points which are obtained via the simulation.

Abstract: A robot program generation apparatus includes an allowable jerk value setting unit for setting allowable jerk values to joints of a robot, a joint information calculation unit for simulating execution of a robot program in a virtual space and calculating positions and jerks of the joints in association with time, a jerks determination unit for determining whether or not the calculated jerk is an excess jerk exceeding the allowable jerk values, a joint information identification unit for identifying the joints and positions of the joints in which the excess jerks are generated, and a robot program adjustment unit for adjusting the robot program by modifying a teaching position within the neighborhood of the positions of the joints in which the excess jerks are generated so that the jerks of the identified joints become equal to or smaller than the allowable jerk values.

Abstract: A robot simulation device for automatically generating a practical interference avoiding motion path, regardless of the level of skill of an operator. The device includes: a motion path obtaining part which obtains a first motion path by simulating a robot motion program; a teaching point specifying part which detects whether a robot interferes with a peripheral object on the first path, and specifies first and second teaching points immediately before and after the interference occurs, respectively; a motion path generating part which automatically inserts a third teaching point between the first and second points and generates second motion paths for avoiding the interference, based on a search direction and distance determined by a random number; an evaluating part which evaluates each second path based on a predetermined parameter; and a motion path selecting part which selects an optimum motion path from the second paths based on an evaluation result.

Abstract: An application operation simulation device including a specification section that specifies positions of nozzles with respect to a spray device and injection shapes of injected materials; an interference point calculation section that performs a working program of a robot including instructions for outputting the injected materials to operate a three-dimensional model of the robot by simulation and calculate interference points between three-dimensional models of the injection shapes and a three-dimensional model of an applied member; an interference number calculation section that calculates the number of interference at each interference point on a surface of the three-dimensional model of the applied member; an application time calculation section that calculates application time from the number of interference; and a display section that displays the color-coded surface of the three-dimensional model.

Abstract: An umbilical member arrangement unit for an umbilical member, having a function for automatically adjusting each coefficient used in the physical simulation model, corresponding to the actual behavior of the umbilical member. A simulation device has a three-dimensional model generating part configured to generate a three-dimensional model of a umbilical member as a stereo structure constituted by a plurality of mass points and a spring connecting the mass points to each other; a simulating part configured to carry out a physical simulation; a storing part configured to previously store an actual static behavior, an actual dynamic behavior, and an actual dynamic behavior of the umbilical member when colliding with a rigid body; and an automatically adjusting part configured to carry out automatic adjustment so that a result of the physical simulation coincides with the actual behaviors stored in the storing part.

Abstract: An umbilical member arrangement unit for an umbilical member, having a function for automatically adjusting each coefficient used in the physical simulation model, corresponding to the actual behavior of the umbilical member. A simulation device has a three-dimensional model generating part configured to generate a three-dimensional model of a umbilical member as a stereo structure constituted by a plurality of mass points and a spring connecting the mass points to each other; a simulating part configured to carry out a physical simulation; a storing part configured to previously store an actual static behavior, an actual dynamic behavior, and an actual dynamic behavior of the umbilical member when colliding with a rigid body; and an automatically adjusting part configured to carry out automatic adjustment so that a result of the physical simulation coincides with the actual behaviors stored in the storing part.

Abstract: There is provided a device for evaluating and correcting a robot operation program for evaluating an appropriateness for the robot operation program and correcting the robot operation program, comprising a computer including a simulation function for confirming a robot operation. The computer includes a load calculation section for calculating a load given to a motor for driving an operating portion of the robot by a simulation conducted by a computer; and an evaluation section for evaluating, by an evaluation function, whether or not the load exceeds a predetermined allowed value.

Abstract: An application operation simulation device includes: a specification section that specifies positions of nozzles with respect to a spray device and injection shapes of injected materials; an interference point calculation section that performs a working program of a robot including instructions for outputting the injected materials and the like to operate a three-dimensional model of the robot by simulation and calculate interference points between three-dimensional models of the injection shapes and a three-dimensional model of an applied member every predetermined time period; an interference number calculation section that calculates the number of interference every predetermined time period at each interference point on a surface of the three-dimensional model of the applied member; an application time calculation section that calculates application time from the number of interference every predetermined time period; and a display section that displays the color-coded surface of the three-dimensional mod

Abstract: A device and a method for automatically setting an interlock based on a suitable interference area obtained by executing an offline simulation in relation to a system including a plurality of robots. The device executes the simulation on the offline programming system based on a motion program so as to determine a moving path of the robots and a two-dimensional interference area between the robots. Next, the device calculates a first three-dimensional interference area by moving the two-dimensional area in the vertical direction and calculates an accurate second three-dimensional interference area within the first interference area, using three-dimensional models of the robots.

Abstract: There is provided a device for evaluating and correcting a robot operation program for evaluating an appropriateness for the robot operation program and correcting the robot operation program, comprising a computer including a simulation function for confirming a robot operation. The computer includes a load calculation section for calculating a load given to a motor for driving an operating portion of the robot by a simulation conducted by a computer; and an evaluation section for evaluating, by an evaluation function, whether or not the load exceeds a predetermined allowed value.

Abstract: There is provided a device for evaluating and correcting a robot operation program for evaluating an appropriateness for the robot operation program and correcting the robot operation program, comprising a computer including a simulation function for confirming a robot operation. The computer includes a load calculation section for calculating a load given to a motor for driving an operating portion of the robot by a simulation conducted by a computer; and an evaluation section for evaluating, by an evaluation function, whether or not the load exceeds a predetermined allowed value.

Abstract: A data processing apparatus for processing data described in a welding operation program of an arc welding robot system.

Abstract: A simulation device displays a three-dimensional model of a robot system on a display device and simulates a robot system including a robot and an image pickup camera. The simulation device includes a display device for displaying a three-dimensional virtual space on a screen, a camera position determination unit for determining an installation position of the image pickup camera based on an image pickup range designated by the operator, optical characteristic information of the used image pickup camera, and required measurement precision, and a virtual image generator unit for generating a virtual image to be obtained by the image pickup camera based on the position of the image pickup camera in the three-dimensional virtual space and the optical characteristic information, thereby facilitating the determination of the suitable position of the image pickup camera and adjustment of the detection parameters.

Abstract: A device and a method for automatically setting an interlock based on a suitable interference area obtained by executing an offline simulation in relation to a system including a plurality of robots. The device executes the simulation on the offline programming system based on a motion program so as to determine a moving path of the robots and a two-dimensional interference area between the robots. Next, the device calculates a first three-dimensional interference area by moving the two-dimensional area in the vertical direction and calculates an accurate second three-dimensional interference area within the first interference area, using three-dimensional models of the robots.

Abstract: There is provided a device for evaluating and correcting a robot operation program for evaluating an appropriateness for the robot operation program and correcting the robot operation program, comprising a computer including a simulation function for confirming a robot operation.

Abstract: A robot imaging device for monitoring the operation of a robot, by which the workload for organizing images may be reduced by imaging the operation of the robot without excess or deficiency, and whereby the total cost of the device may be reduced. The robot imaging device includes a camera for monitoring an operation of a robot, a camera positioning structure for movably supporting the camera, and a camera positioning structure control device for controlling the camera positioning structure. When a robot control device sends a command to the camera positioning structure control device, the camera positioning structure control device may control the camera positioning structure, based on the command, such that an imaging area of the camera is changed from one operation site to another operation site.