JP3647404B2 - Motion path setting method and setting device for articulated robot - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an operation path setting method and setting apparatus for an articulated robot, and in particular, an end effector provided at the tip of an articulated robot sets a path for operating between predetermined work points. The present invention relates to an operation path setting method and a setting device for an articulated robot.
[0002]
[Prior art]
Conventionally, if an articulated robot installed in a production line is directly operated to teach a work posture, an operator who is familiar with the operation of the articulated robot must work on the production line site. Work becomes inefficient. Further, since the work needs to be performed in a state where the production line is stopped, the operation rate of the production line is also lowered.
[0003]
Therefore, offline teaching (offline teaching) has been performed recently in order to increase the efficiency of the teaching work or to improve the operating rate of the production line. That is, a model of an articulated robot and workpieces and surrounding structures that are work objects is constructed on a computer, teaching data is created using the model, and then the teaching data is supplied to the articulated robot on site. In this case, it is not necessary to stop the production line while creating teaching data.
[0004]
[Problems to be solved by the invention]
By the way, offline teaching according to the prior art is not necessarily widely used.
[0005]
This is because it is natural that multi-joint robots need to avoid interference (contact etc.) with various surrounding structures and workpieces, but there are many types of surrounding structures and the shape of the workpiece is complicated. This is because, in some cases, it is difficult to set an operation path that avoids these obstacles.
[0006]
More specifically, the brute force method for investigating interference for all possible postures of articulated robots is not practical due to the enormous amount of calculation, and so-called optimization methods such as mathematical programming are not solved. May not exist. Furthermore, the probabilistic method using random numbers has a problem that there is no guarantee that the solution converges and there is no reproducibility of the calculation.
[0007]
Several approaches have been proposed to solve these problems.
[0008]
For example, there is a method (see Japanese Patent No. 2875498) using a plane including a starting point and a reaching point. In this method, an entry prohibition area in which a cross section of an obstacle is appropriately enlarged is defined on a specified plane, and an operation path passing through the apex of the entry prohibition area is set to avoid interference. However, in this method, since the interference with the entry prohibition area is verified each time and the operation route is set, the verification work becomes complicated and the operation route becomes complicated. Furthermore, even if the motion path is appropriate, it cannot be verified from the viewpoint of the motion range of each axis whether or not the articulated robot can actually move on the motion path.
[0009]
As another method, for example, there is a method (see Japanese Patent Laid-Open No. 9-81228) for setting an operation path by instructing the position and shape of an obstacle to be input with a dedicated controller at a production site. However, in this method, since the teaching is performed while operating the actual machine at the production site, the operation path cannot be automatically set.
[0010]
The present invention has been made in consideration of such problems, and includes a narrow-area motion path for pulling out an end effector of an articulated robot from a work point on a workpiece, and a wide-area motion path for moving between work points or between pull-out positions. It is an object of the present invention to provide an operation path setting method and setting device for an articulated robot that can automatically and efficiently be set.
[0011]
[Means for Solving the Problems]
An operation path setting method for an articulated robot according to the present invention is the operation path setting method for an articulated robot in which an end effector is operated between work points for a workpiece. From the work point to a point near the end of the workpiece while maintaining a non-interference state with the workpiece and other obstacles Evacuation A narrow-range motion path to be performed based on the shape of the workpiece and the obstacle in the vicinity of the work point. Corresponding to each work point Setting And obtain a point near the end A first step, Two Of the points near the end on the other hand Starting point , The other point And a second step of setting a wide area operation path that operates from the departure point to the arrival point by combining a predetermined prescribed action. The first step includes a step of defining an internal space partially surrounded by the arm or electrode of the end effector, a step of extracting a target work portion existing in the internal space from the work, Investigating the presence or absence of interference between the end effector and the target work part when the articulated robot is operated. It is characterized by doing.
[0012]
As a result, the setting of the narrow area movement path for pulling out the end effector from the work point of the workpiece and the setting of the wide area movement path for moving the wide area movement path connecting the points extracted by the narrow area movement path are linked. Therefore, the operation path of the articulated robot can be set automatically and efficiently.
[0013]
Here, the articulated robot and the end effector are virtual ones configured as models by computer program processing.
[0015]
The second step assumes a route connecting the starting point and the destination point, and a third step of investigating whether or not the end effector can be operated on the route; When it is impossible to move the path in the third step, the end effector is moved in a specified direction from the starting point or the arrival point by a specified distance. Evacuation And a fourth step of setting a route.
[0016]
Furthermore, the prescribed direction may be a predetermined direction based on the attitude of the end effector at the starting point or the reaching point.
[0017]
Furthermore, the prescribed direction may be a direction connecting the starting point or the reaching point and a fixed point in space.
[0018]
Said Evacuation The end point of the route may be defined as a new starting point or destination point, and the third step and the fourth step may be executed again.
[0019]
The movement path setting device for an articulated robot according to the present invention is an operation path setting device for an articulated robot that moves an end effector between work points for a workpiece. From the work point to a point near the end of the workpiece while maintaining a non-interference state with respect to the workpiece and other obstacles Evacuation A narrow-range motion path to be performed based on the shape of the workpiece and the obstacle in the vicinity of the work point. Corresponding to each work point Setting And obtain a point near the end A narrow range operation path setting unit, Two Of the points near the end on the other hand Starting point , The other point A wide-area operation path setting unit that sets a wide-area operation path that operates from the departure point to the arrival point by combining predetermined predetermined actions The narrow area motion path setting unit defines an internal space partially surrounded by the arm or electrode of the end effector, extracts a target work portion existing in the internal space from the work, and Investigate whether there is any interference between the end effector and the target workpiece when the articulated robot is operated It is characterized by doing.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of an operation path setting method and setting apparatus for an articulated robot according to the present invention will be described below with reference to FIGS.
[0021]
The movement path setting method and setting apparatus for an articulated robot according to the present embodiment basically includes a gun operation during a narrow range operation in which the end effector provided at the tip of the articulated robot is pulled out from the work point on the workpiece. In the internal space surrounded by the unit, the part where the workpiece is present is extracted and the operation path is set while investigating the interference. Further, during a wide-area operation that moves between the extraction positions, an operation path is set that moves to a destination point while avoiding obstacles by operating in combination with a template operation that moves a specified distance from the starting point in a specified direction.
[0022]
As shown in FIG. 1, an off-line teaching device (motion path setting device) 10 used in the present embodiment performs teaching of the operation of the articulated robot 50, and sets the work object based on the created teaching data. The robot apparatus 12 is linked with a robot apparatus 12 that performs a desired operation.
[0023]
The robot apparatus 12 includes an articulated robot 50 and a robot control unit 22 that controls the operation of the articulated robot 50 based on teaching data.
[0024]
As shown in FIG. 2, the control unit 14 constituting the offline teaching apparatus 10 includes a CPU (computer) 26 as control means for controlling the entire offline teaching apparatus 10, ROM 28 and RAM 29 as storage units, and a hard disk. A hard disk drive (HDD) 39 for accessing data to 34, a drawing control circuit 30 for controlling drawing on the screen of the monitor 16, and an interface circuit 32 to which a keyboard 18 and a mouse 20 as input devices are connected. A recording medium drive 36 for controlling an external recording medium 36a (for example, a flexible disk, a compact disk, etc.), a data creation circuit 38 for creating teaching data, and a system for performing simulation on the screen of the monitor 16 based on the teaching data. And an Interview configuration circuit 40. The simulation circuit 40 is based on a three-dimensional CAD and has a function of creating the model and investigating mutual interference between the models.
[0025]
The hard disk 34 stores an operation path setting program 35 having a function of setting an operation path of the articulated robot 50, condition data 37 that is a condition for setting the operation path, an OS (not shown), and the like.
[0026]
The operation path setting program 35 is configured so that the gun unit (end effector) 68 disposed at a point on the workpiece 80 (see FIG. 5), for example, the welding point T0, maintains the non-interference state with the workpiece 80 or the like. To a point near the edge Evacuation A narrow area motion path setting unit 35a that sets the narrow area motion path to be performed based on the shape of the workpiece 80, and two arbitrary points on the space are set as a starting point P1 (see FIG. 17) and a reaching point P2, and are determined in advance. A wide-area operation path setting unit 35b that sets a wide-area operation path that operates from the departure point P1 to the arrival point P2 by combining the prescribed actions.
[0027]
As shown in FIG. 3, the articulated robot 50 has a second base 56, a first link 58, a second link 60, and a third link in order from the first base 54 that is a mounting base toward the distal end side. 62, the fourth link 64, and the gun attaching / detaching portion 66 are connected. A gun unit 68 is connected to the gun attaching / detaching portion 66 at the tip.
[0028]
The second base 56 is pivotally supported with respect to the first base 54 about the axis J1 which is a vertical axis. The base end portion of the first link 58 is pivotally supported on the second base 56 by an axis J2 which is a horizontal axis. Further, the base end portion of the second link 60 is pivotally supported by the tip end portion of the first link 58 by an axis J3 which is a horizontal axis. The third link 62 is connected to the distal end side of the second link 60 with the axis J4 as a common rotation center axis. Further, the base end portion of the fourth link 64 is pivotally supported on the tip end portion of the third link 62 by an axis J5 perpendicular to the axis J4. The gun attaching / detaching portion 66 is connected to the distal end side of the fourth link 64 with the axis J6 as a common rotation center axis.
[0029]
The gun unit 68 connected to the gun attaching / detaching portion 66 is a so-called C-type welding gun, and has a pair of electrodes 70 and 72 that open and close along the axis J6 at both ends of the arch-shaped arm 74. In the closed state, the electrodes 70 and 72 are in contact with the workpiece 80 at a welding work point (hereinafter referred to as TCP (Tool Center Point)) on the axis J6L.
[0030]
A direction that coincides with the axis of the electrode 72 on the main body side from the TCP is a vector Zr, and a direction that is orthogonal to the vector Zr and faces the outside of the gun unit 68 is a vector Xr. A direction perpendicular to the vectors Xr and Zr is a vector Yr.
[0031]
The driving mechanism for the axes J1 to J6 and the opening / closing mechanism for the electrodes 70 and 72 are each driven by an actuator (not shown), and the TCP depends on the values of the rotation angles θ1 to θ6 of the axes J1 to J6 and the dimensions of each part of the articulated robot 50. It is determined.
[0032]
Further, the gun unit 68 is not limited to the C-type welding gun, but may be, for example, an X-type welding gun (a welding gun including a pair of gun arms opened and closed supported by a common support shaft) shown in FIG.
[0033]
As a reference point for coordinate calculation and control related to the multi-joint robot 50, a point where the axis J1 and the axis J2 intersect is defined as an origin (center point of the original axis) O, and a vertical upward direction is defined based on the origin O. The direction of the axis J2 when the height Z and the rotation angle θ1 are θ1 = 0 is represented as the depth Y, and the direction perpendicular to the height Z and the depth Y is represented as the width X. The three-dimensional orthogonal coordinates are indicated by the height Z, the width X, and the depth Y.
[0034]
Next, a procedure for setting the motion path of the articulated robot 50 using the offline teaching device 10 configured as described above and the motion path setting program 35 will be described with reference to FIGS.
[0035]
In the following description, as shown in FIG. 5, the gun unit 68 is placed between a plurality of welding points (work points) Tn (n = 0, 1, 2,...) For welding the workpiece 80 that is a thin plate. An example of sequential movement will be described.
[0036]
The welding point Tn consists of a total of six values including three-dimensional orthogonal coordinate values (X, Y, Z) in the space for welding and three parameters of TCP indicating the posture of the gun unit 68.
[0037]
Further, it is verified in advance that the gun unit 68 can reach the welding point Tn, and the attitude of the gun unit 68 when welding the welding point Tn, that is, the values of the vector Xr, the vector Yr, and the vector Zr. Is also determined.
[0038]
In step S1 of FIG. 6, the operator of the offline teaching apparatus 10 starts up the operation path setting program 35 by a predetermined operation method. The OS incorporated in the offline teaching apparatus 10 loads the operation path setting program 35 stored in the hard disk 34 to the RAM 29 and executes it. The processing after the next step S2 is executed by the operation path setting program 35.
[0039]
Next, in step S2, a temporary operation path 90 (see FIG. 5) connecting the welding points Tn is set. The movement path 90 may be a straight line as shown in FIG. 9 or an arbitrary curve that facilitates the movement of the articulated robot 50. The same applies to operation paths 100, 102, 104, 110, and 112, which will be described later.
[0040]
Next, in step S3, when the gun unit 68 moves on the temporary movement path 90, the articulated robot 50 investigates whether or not the posture can be set, and in the meantime, with other structures or the like. Investigate for interference.
[0041]
Specifically, a division point obtained by dividing the operation path 90 into a minute length is assumed. Then, the posture of the articulated robot 50 when the gun unit 68 is arranged at each division point, that is, the rotation angles θ1 to θ6 is obtained. The calculation method of the rotation angles θ1 to θ6 is a total of six values defined by the position coordinates (X, Y, Z) of the dividing point in space and the vector Xr, vector Yr, and vector Zr representing the attitude of the gun unit 68. A known matrix calculation method (hereinafter referred to as inverse calculation) may be applied based on the dimensions of each part of the articulated robot 50 and the like.
[0042]
When the posture of the gun unit 68 at the welding points T0 and T1 is different, the vector Xr, the vector Yr, and the vector Zr that indicate the posture of the gun unit 68 may be defined linearly at each division point. In this investigation, the electrodes 70 and 72 are treated as being in an open state so that the electrodes 70 and 72 do not interfere with the workpiece 80.
[0043]
If the posture of the articulated robot 50 is established for each division point, the operation from the welding point T0 to T1 is actually guaranteed.
[0044]
Next, in step S4, it is determined whether the solution of the inverse operation has been normally obtained at each division point, that is, whether the TCP can reach the division point. If no solution is obtained, or the angle value is outside the rotational operation range of the axes J1 to J6, or the articulated robot 50 interferes with the obstacle 82 or the like in the obtained posture. The process proceeds to step S5. In other cases, that is, if the solution is normally obtained, the process proceeds to step S7.
[0045]
In step S5, a narrow area operation path for pulling out the gun unit 68 from the welding points T0 and T1 is set by the function of the narrow area operation path setting unit 35a. This detailed method will be described later.
[0046]
Next, in step S6, two extraction positions Ue (see FIG. 14) obtained by the narrow area operation path are set as a starting point P1 and a reaching point P2, and the gun unit 68 is reached from this starting point P1. A wide area operation route to be moved to P2 is set. This setting is performed by the function of the wide area operation path setting unit 35b, and a detailed method thereof will be described later.
[0047]
After setting the narrow area operation path and the wide area operation path, the process proceeds to step S7 and the investigation is continued.
[0048]
In step S7, it is confirmed whether all the operation paths 90 set in step S1 have been investigated, and the process is terminated. If there is an uninvestigated operation path 90, the process returns to step S3 to continue the investigation.
[0049]
In this way, in the present embodiment, the welding points Tn are first connected by the operation path 90, and when the operation path 90 cannot be applied as it is, the narrow area operation path for avoiding the protrusions, the obstacles 82, and the like of the workpiece 80. Then, a wide area operation path for moving between the extraction positions Ue obtained by setting the narrow area operation path is set.
[0050]
Also, in setting the narrow area operation path, the part where the workpiece is present is extracted and the interference is investigated in the internal space surrounded by the gun unit, so a path that avoids interference with the workpiece is automatically set. be able to.
[0051]
In the setting of the wide area operation route, a template operation in which the gun unit 68 is moved by a specified distance in a specified direction is applied, so that the wide area operation route of the articulated robot 50 affects the shape of the workpiece 80 and the obstacle 82. Can be set automatically without performing complicated operations.
[0052]
Furthermore, the setting of the narrow area operation path for pulling out the gun unit 68 of the articulated robot 50 from the welding point Tn on the workpiece 80 and the setting of the wide area operation path for moving between the starting point P1 and the reaching point P2 are performed. Since it is performed by another process adapted to the process, the operation path between the welding points Tn can be set efficiently.
[0053]
Next, the setting method of the narrow area operation path in step S5 of FIG. 6 will be described with reference to FIGS.
[0054]
First, in step S101 of FIG. 7, the gun unit 68 of the articulated robot 50 is set to a position where the welding point T0 of the workpiece 80 is welded.
[0055]
Since the welding point T0 is the initial position, it is recorded and initialized in the temporary path table 120 for operation data (see order 1 in FIG. 10).
[0056]
As shown in FIG. 10, the path table 120 includes a “gun unit orientation” column 120a, a “TCP position” column 120b, and an “each axis angle” column 120c. It consists of rotation angles θ1 to θ6.
[0057]
Next, in step S102 of FIG. 7, the TCP of the gun unit 68 located at the welding point T0 is set as the investigation start position Ts.
[0058]
Next, in step S103, a center point C (see FIG. 11A) is defined at a position where the arm 74 and the electrodes 70, 72 can be seen in the substantially central portion of the gun unit 68. Then, a radial straight line 1090 is set with a predetermined angular width from the center point C, and an intersection 1092 between the arm 74 and the electrodes 70 and 72 is obtained.
[0059]
In order to simplify the description, the intersection point 1092 is obtained on a plane, but in reality, the intersection point in the three-dimensional shape is also obtained using the data in the depth direction. The solid (or block) 1094 described below is also handled as a three-dimensional shape instead of a surface.
[0060]
Next, in step S104, as shown in FIG. 11B, an annular line 1092b that connects a plurality of intersections 1092 with line segments to form a closed section 1092a is set. Then, a grid line having a predetermined interval is set on the closed section 1092a, and an intersection point 1092c existing in the closed section 1092a is extracted from the intersection points of the grid line.
[0061]
Next, in step S105, as shown in FIG. 12A, a solid 1094 that is a square surface with the extracted intersection 1092c as the center is filled with no gap and set as a gun internal space.
[0062]
Next, in step S106, as shown in FIG. 12B, the work 80 is arranged so that the relative position with the gun unit 68 is aligned. A portion where the workpiece 80 and the solid 1094 overlap is extracted as a workpiece model 1096 (see FIG. 12C). At this time, the portion 80a of the workpiece 80 that does not overlap the solid 1094 becomes irrelevant when investigating the interference, and is thus excluded. Each solid 1094 constituting the work model 1096 is distinguished as a work solid 1098, and the initial positions of the work model 1096 and each work solid 1098 are fixed even when the gun unit 68 moves.
[0063]
As described above, the work 80 is modeled and handled by a plurality of blocks, so that the processing becomes easy and unnecessary portions (for example, non-overlapping portions 80a) of the work 80 are automatically excluded, so that useless processing is performed. Not to do.
[0064]
In step S107, a principal component line (or reference line) M1 of the work model 1096 is calculated by a principal component analysis technique.
[0065]
The calculation method of the principal component line M1 will be described in detail. First, as shown in FIG. 13A, center point coordinates 1098a (Xs, Ys, Zs) of each work solid 1098 are defined.
[0066]
Next, as shown in FIG. 13B, the sum of squares of the distance s between each center point coordinate 1098a and the principal component line M1 is minimized. That means
Σ | s | ² = Min
A principal component line M1 is defined. More specifically, the eigenvalues and eigenvectors of the variance and covariance matrix are calculated from the center point coordinates 1098a, and the center of gravity position G1 that is the average value of the X, Y, and Z coordinates is obtained from Xs, Ys, and Zs. The eigenvector passing through the gravity center position G1 becomes the principal component line M1.
[0067]
In the subsequent steps S108 to S112, as shown in FIG. 14, it is investigated whether or not there is no interference when operated linearly from the investigation start position Ts to the extraction position Ue.
[0068]
That is, first, in step S108, the extraction position Ue is obtained. As shown in FIG. 14, the extraction position Ue moves while matching the vector Xr based on the TCP of the gun unit 68 at the point on the principal component line M1 with the principal component line M1. A position where 70 and 72 no longer interfere with each other is set as the extraction position Ue.
[0069]
Next, in step S109, the posture of the articulated robot 50, that is, the rotation angles θ1 to θ6, is obtained based on the position and posture of the gun unit 68 defined by the extraction position Ue. This calculation method is obtained by the reverse calculation from a total of six values defined by the position coordinates (X, Y, Z) of the extraction position Ue in space and the vector Xr, vector Yr, and vector Zr representing the attitude of the gun unit 68. That's fine.
[0070]
Next, in step S110 of branch determination, it is determined whether the solution in the reverse operation of step S109 has been normally obtained, that is, whether the TCP can reach the extraction position Ue. The solution cannot be obtained, or even if the solution is obtained, the angle value is outside the rotational operation range of the axes J1 to J6, and the articulated robot 50 interferes with other structures in the obtained posture (for example, other If the workpiece or the pillar in the factory interferes with the first link 58, the second link 60, etc.), the process proceeds to step S111. Otherwise, that is, if the solution is normally obtained, the process proceeds to step S112.
[0071]
In this interference investigation, when the X-type welding gun 68a is adopted as the gun unit, the gun unit is examined particularly in both the open state and the closed state.
[0072]
If the solution cannot be obtained normally, in step S111, a rotation operation is performed by rotating α ° about the vector Yr. This rotation operation means that the gun unit 68 is rotated within a range that does not interfere with the work model 1096 around the extraction position Ue as indicated by a two-dot chain line in FIG. Then, after obtaining the vector Xr, vector Yr, and vector Zr in this state, the process returns to step S109. Further, the angle α ° may be investigated as an angle in both positive and negative directions.
[0073]
When the loop formed in steps S109 to S111 is executed several times continuously, the posture of the articulated robot 50 is established at the farther position on the main component line M1 with respect to the extraction position Ue. The position is reset and the process proceeds to the next step S112.
[0074]
Furthermore, the process of rotating α ° may be performed not only around the vector Yr but also around an axis such as the vector Xr or the vector Zr. The same applies to the following rotation processing.
[0075]
Next, moving to FIG. 8, in step S112, as shown in the path V1 of FIG. 14, the gun unit 68 is moved linearly from the investigation start position Ts to the extraction position Ue, and the arm 74, the electrodes 70, 72, It is investigated whether the work model 1096 interferes. This interference is automatically investigated by the function of the simulation circuit 40. When the simulation circuit 40 is used, a three-dimensional investigation that cannot be seen on the screen of the monitor 16 that is a two-dimensional expression can be reliably performed.
[0076]
In step S113 of the branch determination, if it is determined that there is interference according to the investigation in step S112, the process proceeds to step S114. If it is determined that there is no interference, the direct extraction operation can be performed by this one operation. The process proceeds to step S131 which is an end process.
[0077]
As described above, when the shape of the workpiece 80 is simple, the extraction path can be determined by one operation, so that the processing time can be shortened.
[0078]
In the example shown in FIG. 14, it is clear that the electrode 70 interferes with the protrusion 1096a of the work model 1096 during the movement of the path V1, and in this case, the process proceeds to step S114.
[0079]
In subsequent steps S114 to S118, it is investigated whether or not there is no interference when the linear movement is performed from the investigation start position Ts to the gravity center position G1 of the work model 1096.
[0080]
That is, in step S114, as shown in FIG. 15, a route V2 connecting the survey start position Ts and the gravity center position G1 is defined, and the vector Xr is made to coincide with the route V2 with reference to the gravity center position G1. Assume the posture of the gun unit 68.
[0081]
In step S115, the posture of the articulated robot 50 is obtained by the inverse calculation with the assumed posture.
[0082]
Next, in step S116 of branch determination, it is checked whether the solution in the reverse operation has been normally obtained as in step S110. At this time, in addition to the inverse operation processing, it may be investigated whether the gun unit 68 interferes with the work model 1096.
[0083]
If the solution is not normally obtained, a rotation operation is performed to rotate α ° about the vector Yr as in step S111 (step S117). Then, after obtaining the vector Xr, vector Yr, and vector Zr in this state, the process returns to step S115.
[0084]
When the solution is obtained, in step S118, as in step S112, the gun unit 68 is operated linearly along the path V2 from the investigation start position Ts to the gravity center position G1, and the interference is investigated.
[0085]
If the loop formed in steps S115 to S117 is executed several times continuously, it is determined that the gun unit 68 cannot be disposed at the center of gravity position G1, and this process is an abort mask process. Control goes to step S124.
[0086]
Then, when it is determined that there is interference according to the investigation of step S118 and step S130 described later, the process proceeds to step S124 through step S119 of branch determination, and when it is determined that there is no interference, the center of gravity position can be operated. As a thing, it moves to the next step S120.
[0087]
In this step S120, the posture of the articulated robot 50 at that time is additionally recorded in the path table 120.
[0088]
Then, in step S121, as in step S112, a linear operation is performed from the position of the gun unit 68 at that time to the extraction position Ue to check for interference. In the example shown in FIG. 15, the investigation is performed along the principal component line M1.
[0089]
In step S122 of the branch determination, if it is determined that there is interference according to the investigation in step S121, the process proceeds to step S123. If it is determined that there is no interference, the extraction operation can be performed by this operation. The process moves to step S131.
[0090]
If there is interference, in step S123, an update process is performed in which the position of the gun unit 68 at that time is set as a new investigation start position and replaced with the previous investigation start position Ts. That is, in the example of FIG. 15, since it was possible to pull out the gun unit 68 to the center of gravity position G1, it is determined that it is no longer necessary to consider the portion outside the gun internal space. In order to recreate the model 1096, the survey start position Ts is also updated.
[0091]
The direction of the gun unit 68 is set so that the vector Xr matches the direction of the principal component line at that time.
[0092]
Then, the work solid 1096 is extracted and updated in the same manner as in step S106, and further, a new principal component line M1 and a new center of gravity position G1 are obtained in the same manner as in step S107. Return. After returning to step S114, processing is continued for the new work solid 1096, principal component line M1, and barycentric position G1 obtained in step S123.
[0093]
In this manner, since the portion that does not enter the gun internal space is sequentially removed from the processing target, a path for pulling out the gun unit 68 can be obtained even for the workpiece 80 having a complicated shape.
[0094]
However, when the loop formed in step S114 to step S123 has been executed a predetermined number of times or more, it is determined that it is very difficult to pull out the gun unit 68 from the workpiece 80. Therefore, stop processing and re-plan.
[0095]
Next, steps S124 to S130, which are processes when it is determined in step S119 that there is interference due to an operation along the path Vn (n = 1, 2, 3,...), Will be described. In this case, only the part close to the opening of the gun unit 68 in the work model 1096 is extracted (or masked), and the extracted path is obtained with priority on the extracted part.
[0096]
First, in step S124 of FIG. 9, as shown in FIG. 16, the workpiece model 1096 is divided into a portion 1096b on the opening side of the gun unit 68 and a portion 1096c on the opposite side of the opening as shown in FIG. To do. In this sorting process, the process is devised so that the gun unit 68 is pulled out only in the part close to the opening. The part 1096c on the opposite side to the opening is suspended and the part on the opening side (new target) Work part) 1096b is extracted. Then, the subsequent target work portion 1096b is handled as a substitute for the work model 1096 in the subsequent processing from step S125 to step S130.
[0097]
Next, in step S125, the principal component line M2 and the center-of-gravity position G2 are obtained for the new target work portion 1096b as in the process of step S107.
[0098]
Then, in step S126, as in step S114, a route V3 connecting the survey start position Ts and the gravity center position G2 is defined, and the gun X in which the vector Xr is matched with the route V3 with reference to the gravity center position G2. Assume the posture of unit 68.
[0099]
Next, in step S127, as in step S115, the posture of the articulated robot 50 is obtained by the inverse calculation in the assumed posture.
[0100]
Next, in step S128 of branch determination, it is checked whether the solution in the reverse operation has been normally obtained as in step S116.
[0101]
If the solution is not normally obtained, a rotation operation is performed by rotating α ° about the vector Yr as in step S117 (step S129), and the process returns to step S127.
[0102]
When a solution is obtained, in step S130, as in step S118, the gun unit 68 is operated linearly along the path V3 from the investigation start position Ts to the gravity center position G2, and the interference is investigated. Then, the process returns to step S119, and this interference investigation is determined.
[0103]
In this way, even when a route search is performed for the entire work model 1096, an appropriate route is not found, but only a portion close to the opening of the gun unit 68 is obtained by performing mask processing on the work model 1096. The extraction route can be obtained with priority given to. Further, in the subsequent process, the work model 1096 becomes a simple shape in order by combining with the update process of the work model 1096 in the above-described step S123, and it becomes easy to obtain the extraction route.
[0104]
If the loop formed in steps S127 to S129 is executed several times continuously, it is determined that the gun unit 68 cannot be disposed at the center of gravity position G2, and a step is performed to perform further mask processing. Return to S124. However, when the mask processing has exceeded the predetermined specified number of times, it is determined that the mask processing is not effective for the shape of the workpiece 80, and the process returns to step S120, which is a drawing process in which the mask process is not performed, and the drawing path is again performed. Is calculated.
[0105]
In step S131, which is an end process, the coordinates of the extraction position Ue, which is the survey end position, vector data, and the like are added to the path table 120 (see FIG. 10) as operation data. Inserted between the welding points Tn of the path table 120. Thereafter, the process returns to the process shown in FIG.
[0106]
As described above, even when a suitable route is not found when a route search is performed on the entire work model 1096, the workpiece model 1096 is masked so that it is close to the opening of the gun unit 68. The extraction route can be obtained with priority only on the portion. Further, in the subsequent processing, the work model 1096 sequentially becomes a simple shape by combining with the update processing of the work model 1096 in the above-described step S123, and it becomes easy to obtain the extraction route.
[0107]
Next, the setting method of the wide area operation route in step S6 of FIG. 6 will be described with reference to FIGS.
[0108]
In the following description, as shown in FIG. 17, an example in which the gun unit 68 is operated from a certain starting point P1 to a reaching point P2 of a workpiece 80 that is a thin plate will be described. It is assumed that there is an obstacle 82 between the starting point P1 and the reaching point P2. Further, it is assumed that the extraction position Ue obtained in the above-described narrow area operation path setting is handled as the starting point P1 and the reaching point P2.
[0109]
In FIG.18 S201, the operator of the offline teaching apparatus 10 performs the function which sets the wide area operation path | route among the operation path | route setting programs 35 with a predetermined | prescribed operation method. If this process is performed continuously after setting the narrow area operation path, the operation of the operator may be omitted.
[0110]
In step S <b> 202, the operation path setting program 35 reads out condition data 37, which is a condition for setting an operation path, from the hard disk 34 and stores it in the RAM 29. Furthermore, from the condition data 37, the starting point P1, the reaching point P2, the shape of the workpiece 80, the position and the shape of the obstacle 82, etc. for which the operation path is to be set are recognized.
[0111]
Next, in step S203, assuming an operation path (path) 100 connecting the starting point P1 and the arrival point P2, whether or not the posture is established when the gun unit 68 is operated on the operation path 100 is determined. And investigate for interference.
[0112]
Specifically, a division point obtained by dividing the operation path 100 into a minute length is assumed. Then, the posture of the articulated robot 50 when the gun unit 68 is arranged at each division point, that is, the rotation angles θ1 to θ6 is obtained. The calculation method of the rotation angles θ1 to θ6 is a total of six values defined by the position coordinates (X, Y, Z) of the dividing point in space and the vector Xr, vector Yr, and vector Zr representing the attitude of the gun unit 68. A known matrix calculation method (hereinafter referred to as inverse calculation) may be applied based on the dimensions of each part of the articulated robot 50 and the like.
[0113]
When the postures of the gun unit 68 are different at the starting point P1 and the reaching point P2, the vector Xr, the vector Yr, and the vector Zr indicating the posture of the gun unit 68 may be defined in a straight line complementary manner at each division point. In this investigation, the electrodes 70 and 72 are treated as being in an open state so that the electrodes 70 and 72 do not interfere with the workpiece 80.
[0114]
If the posture of the articulated robot 50 is established for each division point, the operation from the starting point P1 to the reaching point P2 is actually guaranteed.
[0115]
Next, in step S204, it is determined whether or not a reverse operation solution is normally obtained at each division point, that is, whether the TCP can reach the division point. If no solution is obtained, or the angle value is outside the rotational operation range of the axes J1 to J6, or the articulated robot 50 interferes with the obstacle 82 or the like in the obtained posture. The process proceeds to step S205. In other cases, that is, if the solution is normally obtained, a wide area operation route setting end process is performed in step S229.
[0116]
As for the presence or absence of interference, a function relating to interference that the simulation circuit 40 has may be used.
[0117]
In step S205 in FIG. 19, in order to avoid the obstacle 82 or to establish the posture, the gun unit 68 is applied with the first template operation from the starting point P1 to the first relay point Q1 (new starting point). Set.
[0118]
Here, the template represents a prescribed action to be executed by the articulated robot 50. As shown in FIG. 21, the first template is a prescribed distance in the prescribed direction with reference to the TCP of the gun unit 68. Assuming the operated first relay point Q1, the operation path (the route connecting the starting point P1 and the first relay point Q1) Evacuation This is an operation of moving the gun unit 68 to (route) 102. The first relay point Q1 is just moved from the position of the starting point P1, and the direction of the gun unit 68 that the starting point P1 has, that is, the direction of the TCP is assumed to be unchanged.
[0119]
In general, the vector Zr is set to be perpendicular to the workpiece 80 in order to properly perform the welding operation. Therefore, it is preferable that the specified direction is the drawing direction of the gun unit 68, that is, the direction opposite to the vector Xr. It is. The specified distance may be determined in advance according to the size of the gun unit 68 so that the distance can be sufficiently removed from the workpiece 80. 100mm is suitable for a general-sized gun unit.
[0120]
The first template is effective for thin plates that are general workpieces. Evacuation This is a simple and convenient method without being affected by the shape of the workpiece. Evacuation The operation path can be set by a method.
[0121]
Next, in step S206, whether or not the posture of the articulated robot 50 is established at the first relay point Q1 and the presence or absence of interference with surrounding obstacles are investigated in the same manner as in step S203.
[0122]
Next, in step S207, if the result of the investigation in step S206 shows that the posture of the articulated robot 50 at the first relay point Q1 is established and there is no interference, the process proceeds to step S212. Otherwise, step S208 is performed. Move on.
[0123]
In step S208, it is assumed that the gun unit 68 is rotated by a predetermined angle around the vector Xr, Yr or Zr in order to obtain an appropriate posture at the first relay point Q1. This rotation process is performed together with step S209, which is the next determination process, and all the vectors Xr, Yr, and Zr are sequentially rotated.
[0124]
Next, in step S209, it is confirmed whether or not the accumulated angle rotated by a predetermined angle has reached 360 °. If it is less than 360 °, the process proceeds to step S206 to determine the posture of the articulated robot 50.
[0125]
If an appropriate posture cannot be obtained at the first relay point Q1 even if the vector Xr, the vector Yr, and the vector Zr are rotated by 360 °, in step S210, the first relay point Q1 is set to the starting point P1. Reset to the position returned by a predetermined distance in the direction. That is, if the first relay point Q1 is set at a distance of 100 mm from the starting point P1, it is returned to the direction of the starting point P1 by 10 mm and reset to a position of 90 mm.
[0126]
Next, in step S211, the integrated value of the distance for returning the first relay point Q1 is confirmed, and if it has returned to the starting point P1, which is the original point, the process is interrupted and replanning is performed. To do. If it has not returned to the starting point P1, that is, if it is in the range of 10 to 90 mm, the process proceeds to step S206, and the posture of the multi-joint robot 50 is determined.
[0127]
On the other hand, the operation path connecting the first relay point Q1 and the starting point P1 in step S212 (when it is determined that the posture of the articulated robot 50 is established and there is no interference in the determination in step S207). Assuming 102 (see FIG. 17), whether or not the posture is established and the presence or absence of interference when the gun unit 68 is operated on the operation path 102 is investigated by the same process as step S203.
[0128]
Next, in step S213, the same determination as in step S204 is performed, and if it can be determined that the posture of the articulated robot 50 is established at the dividing point on the motion path 102 and is operable, the process proceeds to the next step S214. If it is determined that the operation is impossible, the process returns to step S210, and the position of the first relay point Q1 is further changed.
[0129]
In step S214, it is confirmed that two first relay points Q1 and first relay points Q2 (new destination points) have been set for the starting point P1 and the reaching point P2, and the process proceeds to the next step S215. If the first relay point Q2 corresponding to the arrival point P2 is not set, the process returns to step S205 in FIG.
[0130]
Next, in step S215, assuming an operation path 104 connecting the two first relay points Q1 and Q2, whether the posture is established and whether there is interference when the gun unit 68 is operated on the operation path 104. Is investigated by the same process as in step S203.
[0131]
Next, in step S216, the same determination as in step S204 is performed, and if it is determined that the posture of the articulated robot 50 is established at the dividing point on the operation path 104 and can be operated, the wide-area operation path setting is performed in step S229 in FIG. Perform termination processing. If it is determined that the operation is impossible, the process proceeds to the next step S217.
[0132]
In step S217 of FIG. 20, in order to avoid the obstacle 82, the gun unit 68 is set to the second relay point R1 by applying the second template operation from the first relay point Q1.
[0133]
As shown in FIG. 21, the second template assumes a line 108 connecting the first relay point Q1 and a predetermined fixed point 106, and a point moved on the line 108 by a specified distance from the first relay point Q1. The second relay point R1 is used.
[0134]
The second relay point R1 is obtained by moving the first relay point Q1 only in a spatial position, and the direction of the gun unit 68 having the first relay point Q1, that is, the direction of TCP is assumed to be unchanged.
[0135]
The second template is used as a free space where the obstacle 82 is unlikely to exist so that the gun unit 68 that has already detached from the workpiece 80 moves in a direction in which there is no obstacle 82 to interfere with. To move in the direction. That is, the obstacle 82 generally does not exist near the origin O so as not to hinder the operation of the articulated robot 50, and the obstacle 82 can be avoided by operating in this direction. Possibility increases and is suitable. The specified distance is preferably 100 mm.
[0136]
In addition to the origin O, if there is a place where the obstacle 82 does not exist or a place where the fixed point 106 is easy to operate, that place may be set as the fixed point 106. For example, when the motion range of the articulated robot 50 is expressed in space, it is considered that the degree of freedom of motion is the largest at the center position, so that position may be the fixed point 106.
[0137]
Next, in step S218, whether or not the articulated robot 50 posture is established at the second relay point R1 and the presence or absence of interference with surrounding obstacles are investigated in the same manner as in step S203.
[0138]
Next, in step S219, as a result of the investigation in step S218, if it can be determined that the posture of the articulated robot 50 at the second relay point R1 is established and there is no interference, the process proceeds to step S224. Otherwise, step S220 is performed. Move on.
[0139]
In step S220, in order to obtain an appropriate posture at the second relay point R1, it is assumed that the gun unit 68 is rotated by a predetermined angle about the vector Xr, Yr or Zr as in step S208.
[0140]
Next, in step S221, it is confirmed whether or not the integrated angle rotated by a predetermined angle has reached 360 °. If it is less than 360 °, the process proceeds to step S206 to determine the posture of the articulated robot 50.
[0141]
If an appropriate posture cannot be obtained at the second relay point R1 even if the vector Xr, the vector Yr, and the vector Zr are each rotated 360 °, the second relay point R1 is moved to the fixed point 106 in step S222. To the position moved by a predetermined distance. That is, if the second relay point R1 is set at a distance of 100 mm from the first relay point Q1, it is further moved by 100 mm in the direction of the fixed point 106 and reset to the position of 200 mm.
[0142]
Next, in step S223, the integrated value of the distance traveled by the second relay point R1 is confirmed, and if it reaches the fixed point 106, the process is interrupted and replanning is performed. If the fixed point 106 has not been reached, the process moves to step S218 to determine the posture of the articulated robot 50.
[0143]
In step S224 (when it is determined that the posture of the articulated robot 50 is established and there is no interference in the determination in step S219), an operation path 110 connecting the first relay point Q1 and the second relay point R1 is assumed. Then, when the gun unit 68 is moved on the operation path 110, the investigation of whether or not the posture is established and the presence or absence of interference are performed by the same processing as in step S203.
[0144]
Next, in step S225, the same determination as in step S204 is performed. If it is determined that the articulated robot 50 is postured at the dividing point on the movement path 110 and can be operated, the process proceeds to the next step S226, and if it is determined that the movement is impossible, the process returns to step S222 and the first relay is performed. The position of the point Q1 is further changed.
[0145]
In step S226, it is confirmed that two second relay points R1 and R2 have been set for the first relay points Q1 and Q2, and the process proceeds to the next step S227. If the second relay point R2 corresponding to the first relay point Q2 is not set, the process returns to step S217.
[0146]
Next, in step S227, an operation path 112 connecting the two second relay points R1 and R2 is assumed, and the same investigation as in step S203 is performed on the operation on the operation path 112.
[0147]
Next, in step S228, the same determination as in step S204 is performed, and if the posture of the articulated robot 50 is established at the dividing point on the motion path 112 and it can be determined that the robot can be operated, a wide-area motion path setting end process is performed. If it is determined that the operation is impossible due to the interference of the obstacle, the process returns to step S222, the two second relay points R1 and R2 are further moved, and the process may be repeated until the operation path is established.
[0148]
After the setting of the operation route from the departure point P1 to the arrival point P2 is completed, a wide area operation route setting end process is performed in step S229 of FIG. As the termination process, for example, the set wide area operation route is recorded in the path table 120 (see FIG. 10). The path table 120 is a table that records the starting point P1, the first relay point Q1, the second relay point R1, the second relay point R2, the first relay point Q2, and the arrival point P2, which are set operation routes, in the order of operation. Yes, the position coordinates (X, Y, Z) at each point, the vector Xr indicating the TCP, the vector Yr, the vector Zr, and the rotation angles θ1 to θ6 of each axis of the articulated robot 50 are recorded.
[0149]
The motion path recorded in the path table 120 is converted into program data for operating the actual articulated robot 50 by the data creation circuit 38 and then transferred to the robot controller 22.
[0150]
The path table 120 is recorded in the RAM 29 and the hard disk 34, but may be displayed on the screen of the monitor 16 or printed as necessary.
[0151]
In the above description, the operation path 104 is a path connecting the first relay points Q1 and Q2, but the first template is applied only to the start point P1 side to obtain the first relay point Q1, The arrival point P2 may be applied as it is, and a route connecting the first relay point Q1 and the arrival point P2 may be assumed.
[0152]
Similarly, for the operation route 112, for example, a route connecting the second relay point R1 and the first relay point Q1 may be assumed.
[0153]
From the starting point P1 Evacuation in order to Evacuation The operation paths 102 and 110 as paths may be used when operating to other points other than the arrival point P2.
[0154]
Furthermore, although the specified distance initially applied in the first template is 100 mm, the distance may be increased to 20 mm and 30 mm starting from 10 mm.
[0155]
The order in which the first and second templates are applied may be reversed depending on the status of the workpiece 80, the obstacle 82, and the like.
[0156]
The set path table 120 shows a wide area operation path from the starting point P1 to the arrival point P2 or a narrow area operation path indicating a drawing operation from the welding point Tn, but these operation paths are reversible. The route from the arrival point P2 to the departure point P1 may be used, or the route to the middle may be used without using all the operation routes.
[0157]
Furthermore, this embodiment can be applied to, for example, an assembly robot, a painting robot, or the like other than a welding robot, and the articulated robot 50 includes a seven-axis structure, a link mechanism, and an expansion / contraction mechanism. The structure which has etc. may be sufficient.
[0158]
Thus, according to the present embodiment, first, an operation path 100 connecting the starting point P1 and the arrival point P2 is assumed, and it is investigated whether the gun unit 68 can be operated on the operation path 100. Therefore, if the gun unit 68 can operate on the operation path 100, the operation path can be set very simply without providing an operation relay point or the like. Even when the operation on the operation path 100 is impossible, the first template that operates by the specified distance in the opposite direction of the vector Xr that is the specified direction from the starting point P1 or the arrival point P2 is applied. The first relay points Q1 and Q2 can be set automatically and efficiently without being performed and without being affected by the shape of the workpiece 80.
[0159]
The first template is most suitable for the workpiece 80. Evacuation Head in the specified direction set to the direction considered to be easy to do, and from the workpiece 80 sufficiently according to the size of the gun unit 68 Evacuation Because it operates only as much as possible, it is a simple method and safe from the workpiece 80 Evacuation It is highly possible. In addition, since the safety is verified in step S206 and the like, there is no possibility of interference or the like when the articulated robot 50 is actually operated.
[0160]
Moreover, according to the present embodiment, Evacuation When the first relay point Q1, Q2 or the second relay point R1, R2 set on the route is a point that cannot be reached by the articulated robot 50 or a point that causes interference, the first and second templates Since the specified distance is corrected and the position of the first relay point Q1, Q2 or the second relay point R1, R2 is reset, it is preferable. Evacuation The position can be set.
[0161]
Further, in the second template, the prescribed direction is the direction toward the origin O in the coordinate calculation of the articulated robot 50, so that there is a low possibility of interference with the obstacle 82.
[0162]
Furthermore, according to the present embodiment, the first template and the second template are applied in combination, and the first template starts with the work 80. Evacuation Then, from the other obstacle 82 etc. with the second template Evacuation And after that, the safety is verified. Evacuation In addition, it is possible to set a wide-area operation path, and it is possible not only to improve work efficiency but also to improve the quality of offline teaching data without depending on the skill of the operator.
[0163]
The operation path setting method and setting device for an articulated robot according to the present invention are not limited to the above-described embodiments, and various configurations can be adopted without departing from the gist of the present invention.
[0164]
【The invention's effect】
As described above, according to the motion path setting method and setting device for an articulated robot according to the present invention, the movement between the narrow area motion path for pulling the end effector from the work point on the workpiece and the work point or the pulling position is performed. The effect of being able to automatically and efficiently set the wide-area operation path to be achieved is achieved.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram showing an off-line teaching device and a robot device used in the present embodiment.
FIG. 2 is a block diagram showing a configuration of an off-line teaching device.
FIG. 3 is an explanatory diagram showing a configuration of an articulated robot.
FIG. 4 is an explanatory view showing an X-type welding gun.
FIG. 5 is an explanatory view showing a welding point of a workpiece.
FIG. 6 is a flowchart showing an overall motion path setting method of the articulated robot in the present embodiment.
FIG. 7 is a flowchart (No. 1) showing a narrow-area motion path setting method of the articulated robot in the present embodiment.
FIG. 8 is a flowchart (No. 2) illustrating the narrow-area motion path setting method of the articulated robot in the present embodiment.
FIG. 9 is a flowchart (No. 3) illustrating the narrow-area motion path setting method of the articulated robot in the present embodiment.
FIG. 10 is a diagram showing a path table.
FIG. 11A is a diagram for explaining a procedure for setting a line radially from a central point, and FIG. 11B is a diagram for explaining a procedure for drawing a line in a lattice shape and extracting an intersection in a closed space; .
FIG. 12A is a diagram for explaining a procedure for setting a solid centering on an intersection; FIG. 12B is a diagram for explaining a procedure for extracting an overlapping portion between a solid and a workpiece; FIG. It is a figure which shows the made work model.
FIG. 13A is a diagram showing a center point of each solid, and FIG. 13B is a diagram showing a procedure for obtaining principal component lines.
FIG. 14 is a diagram showing a procedure for obtaining a drawing point and a drawing route (V1).
FIG. 15 is a diagram showing a drawing path (V2).
FIG. 16 is a diagram illustrating mask processing.
FIG. 17 is an explanatory diagram showing an operation path from a starting point to a destination point.
FIG. 18 is a flowchart (part 1) illustrating a wide-area motion path setting method for the articulated robot in the present embodiment.
FIG. 19 is a flowchart (part 2) illustrating the wide-area motion path setting method for the articulated robot in the present embodiment.
FIG. 20 is a flowchart (part 3) illustrating the wide-area motion path setting method of the articulated robot in the present embodiment.
FIG. 21 is an explanatory diagram showing the operation of the first and second templates.
[Explanation of symbols]
10 ... Offline teaching device 12 ... Robot device
14 ... Control unit 22 ... Robot control unit
26 ... CPU 29 ... RAM
34 ... Hard disk 35 ... Operation path setting program
38 ... Data creation circuit 40 ... Simulation circuit
50 ... Articulated robot 68 ... Gun unit
70, 72 ... Electrode 80 ... Workpiece
90, 100, 102, 104, 110, 112 ... operation path
106 ... fixed point 120 ... pass table
1094 ... Solid 1096 ... Work model
1096b: opening side portion G1, G2: center of gravity position
M1, M2 ... principal component line O ... origin
P1 ... Departure point P2 ... Destination point
Q1, Q2 ... first relay point R1, R2 ... second relay point
Ts ... Investigation start position Ue ... Pullout position
Xr, Yr, Zr ... vector

Claims (6)

In an operation path setting method for an articulated robot that moves an end effector between work points on a workpiece,
The end effector arranged at the work point of the workpiece has a narrow area operation path for retreating from the work point to a point near the end of the work while maintaining a non-interference state with respect to the work and other obstacles. , based on the shape of the workpiece and the obstacle at the work point near set in correspondence with each work point, the first step Ru obtain a point in the vicinity of said end portion,
Two said ends one point the starting point of the neighboring points, the other points as the destination point, the wide operation path that runs from the starting point to the arrival point, by combining a predetermined prescribed operation have a second step of setting,
Said first step defining an interior space partially surrounded by an arm or electrode of said end effector;
Extracting a target work part existing in the internal space from the work;
Investigating the presence or absence of interference between the end effector and the target work part when the articulated robot is operated; and
Operation path setting method of the articulated robot, characterized in that the have a. In operation path setting method of an articulated robot according to claim 1 Symbol placement,
The second step assumes a route connecting the starting point and the destination point, and a third step of investigating whether or not the end effector can be operated on the route;
In the third step, when it is impossible to operate the path, a retreat path for operating the end effector in a specified direction from the starting point or the arrival point by a specified distance is set. And an operation path setting method for the articulated robot. The operation path setting method for an articulated robot according to claim 2 ,
The articulated robot operation path setting method, wherein the prescribed direction is a predetermined direction based on a posture of the end effector at the starting point or the reaching point. The operation path setting method for an articulated robot according to claim 2 ,
The motion path setting method for an articulated robot, wherein the specified direction is a direction connecting the starting point or the reaching point and a fixed point in space. The motion path setting method for an articulated robot according to any one of claims 2 to 4 ,
An operation path setting method for an articulated robot, wherein the end point of the retreat path is defined as a new starting point or reaching point, and the third step and the fourth step are executed again. In the movement path setting device for an articulated robot that moves an end effector between work points for a workpiece,
The end effector arranged at the work point of the workpiece has a narrow area operation path for retreating from the work point to a point near the end of the work while maintaining a non-interference state with respect to the work and other obstacles. , said workpiece and said set corresponding to each working point on the basis of the shape of the obstacle, said end Ru obtain a point near the narrow area operation path setting unit at the work point near,
Two said ends one point the starting point of the neighboring points, the other points as the destination point, the wide operation path that runs from the starting point to the arrival point, by combining a predetermined prescribed operation set possess a wide area operation path setting unit that,
The narrow area operation path setting unit defines an internal space partially surrounded by an arm or an electrode of the end effector,
Of the workpieces, extract the target workpiece part existing in the internal space,
An operation path setting device for an articulated robot, characterized by investigating whether or not there is interference between the end effector and the target work part when the articulated robot is operated.

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