US 12,248,300 B2
Program generation apparatus, program generation method, and computer-readable storage medium storing a generation program
Chisato Nakashima, Kyoto (JP); and Yoshiya Shibata, Kyoto (JP)
Assigned to OMRON Corporation, Kyoto (JP)
Appl. No. 17/788,503
Filed by OMRON Corporation, Kyoto (JP)
PCT Filed Jan. 16, 2020, PCT No. PCT/JP2020/001244
§ 371(c)(1), (2) Date Jun. 23, 2022,
PCT Pub. No. WO2021/144911, PCT Pub. Date Jul. 22, 2021.
Prior Publication US 2023/0032261 A1, Feb. 2, 2023
Int. Cl. G05B 19/4155 (2006.01); B25J 9/16 (2006.01); G06F 8/30 (2018.01)
CPC G05B 19/4155 (2013.01) [B25J 9/1656 (2013.01); G06F 8/30 (2013.01); G05B 2219/40269 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A program generation apparatus, comprising a processor configured with a program to perform operations comprising:
creating a series of motions comprised in an assembly operation affected by a component change, during a simulation in which operations for program generation are conducted, the simulation comprising a virtual space into which an operating state of a robot device in a real space is projected;
obtaining, during the simulation, a motion program to instruct the robot device to perform a series of motions comprised in an assembly operation to assemble a product using a plurality of components;
receiving, during the simulation, a request for a component change to change at least one of the plurality of components in order to perform the assembly operation;
referring, during the simulation, to attribute information indicating an attribute of each of the plurality of components, comparing an attribute of a first component indicated as a target of the component change and an attribute of a second component to replace the first component in the component change to determine a difference in the attribute of the first component and the attribute of the second component, and extracting, from the series of motions defined in the motion program, a motion or motions of the robot device to be corrected based on the difference in the attribute between the first component and the second component in order to perform the assembly operation; and
generating, during the simulation, a new motion program to instruct the robot device to perform the series of motions comprised in the assembly operation performed after the component change by correcting a command value of the extracted motion in the motion program to compensate for the difference in attribute between the first component and the second component, wherein
the command value to be corrected is associated with a geometric motion of the robot device,
the attribute information comprises a shape, a dimension, a position, and a geometric model for each of the plurality of components,
the geometric model represents the shape and the dimension being defined for each of the plurality of components in a local coordinate system having a reference point as an origin, and
the processor configured with the program to perform operations further comprising
determining, during the simulation, whether a reference point of a geometric model for the first component and a reference point of a geometric model for the second component are defined using a same index, and
correcting, during the simulation, the reference point of the geometric model for the second component to be defined using the same index as the reference point of the geometric model for the first component before the command value of the motion is corrected when it is determined that the reference point of the first component and the reference point of the second component are not defined using the same index.