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Device, program, recording medium and method for robot simulation

A simulation device and robot technology, applied in the direction of program control, program control manipulator, instrument, etc., can solve the problem that effective simulation technology has not been developed

Active Publication Date: 2007-09-12
FANUC LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, effective simulation techniques for off-line teaching of workpiece handling operations including bin picking actions have not yet been developed

Method used

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  • Device, program, recording medium and method for robot simulation
  • Device, program, recording medium and method for robot simulation
  • Device, program, recording medium and method for robot simulation

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Embodiment Construction

[0029] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same or similar constituent elements are denoted by common reference signs.

[0030] Referring to the drawings, FIG. 1 is a functional block diagram showing the basic structure of a robot simulation device 10 of the present invention, FIG. A diagram showing an example of a display screen of the display unit 14 of the robot simulator 10 . The robot simulator 10 simulates the movement of the robot 18 having the vision sensor 16 in an off-line state. The robot simulator 10 can be configured by installing necessary software on a computer such as a personal computer (PC), for example. In addition, the robot simulation device 10 itself can also be regarded as an offline teaching (or offline programming) device.

[0031] The robot simulation device 10 includes a work environment model setting unit 24 and a motion simulation unit 26 . The working...

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Abstract

A robot simulation device for simulating an operation of a robot having a vision sensor in an off-line mode. The device includes a working-environment model setting section for arranging a sensor model, a robot model and a plurality of irregularly piled workpiece models in a virtual working environment; and an operation simulating section for allowing the sensor model and the robot model to simulate a workpiece detecting operation and a bin picking motion. The operation simulating section includes a workpiece-model image generating section for allowing the sensor model to pick up the workpiece models and generating a virtual image thereof; a workpiece-model position detecting section for identifying an objective workpiece model from the virtual image and detecting a virtual position thereof; and a robot-model operation controlling section for allowing the robot model to pick out the objective workpiece model based on the virtual position.

Description

technical field [0001] The present invention relates to a robot simulation device for simulating and executing the motion of a robot having a vision sensor in an off-line state. The present invention also relates to a program and a recording medium for simulating the execution of the motion of a robot having a vision sensor in an offline state. In addition, the present invention also relates to a robot simulation method for simulating the execution of an action of a robot having a vision sensor in an offline state. Background technique [0002] In a production system using a robot, especially an industrial robot, including a robotic hand mounted at the end of the robot arm to grasp and remove objects (i.e., workpieces) in an arbitrarily stacked non-aligned state (i.e., in a "bulk" state) The so-called bin-picking (Bin-Picking) operation of workpiece handling has been carried out in various situations. In general, in the workpiece handling operation that includes the action...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50B25J19/00B25J9/16B25J9/22G05B19/4069
CPCB25J9/1697G05B2219/40053G05B19/4061
Inventor 近江达也长塚嘉治
Owner FANUC LTD
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