US 12,276,967 B2
Program creation apparatus and storage medium
Yuma Shimura, Matsumoto (JP)
Assigned to SEIKO EPSON CORPORATION, (JP)
Filed by SEIKO EPSON CORPORATION, Tokyo (JP)
Filed on Jun. 24, 2022, as Appl. No. 17/848,446.
Claims priority of application No. 2021-105469 (JP), filed on Jun. 25, 2021.
Prior Publication US 2022/0413468 A1, Dec. 29, 2022
Int. Cl. G05B 19/4155 (2006.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01)
CPC G05B 19/4155 (2013.01) [B25J 9/163 (2013.01); B25J 11/0065 (2013.01); G05B 2219/50391 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A program creation apparatus comprising:
a memory configured to store a program; and
a processor configured to execute the program so as to:
receive operation information relating to a plurality of operations of a robot, the operation information including:
a start position and an end position of an end effector of the robot;
a coordinate indicating the start position and the end position;
a pressing direction along which the end effector presses an object;
a pressing force that the end effector uses when the end effector presses the object;
a movement speed of the end effector; and
a rotation speed of a tool held by the end effector, wherein each of the plurality of operations is performed by the robot based on the operation information having specific values relating to the start position and the end position, the coordinate, the pressing direction, the pressing force, the movement speed, and the rotation speed;
generate a plurality of operation groups, each of the plurality of operation groups being assigned by one of the plurality of operations;
determine a waiting period of time between two adjacent operation groups of the plurality of operation groups;
generate a work sequence executed by the robot based on the plurality of operation groups and the waiting period of time; and
create a motion program based on the work sequence and a work information file in which the operation information contained in the work sequence is recorded.