US 12,447,616 B2
Program generation device and program generation method generating a route program for that returns tip of robot from end point by a prescribed distance
Takashi Satou, Yamanashi (JP); and Yihua Gu, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Appl. No. 17/998,146
Filed by FANUC CORPORATION, Yamanashi (JP)
PCT Filed May 6, 2021, PCT No. PCT/JP2021/017390
§ 371(c)(1), (2) Date Nov. 7, 2022,
PCT Pub. No. WO2021/230135, PCT Pub. Date Nov. 18, 2021.
Claims priority of application No. 2020-082952 (JP), filed on May 11, 2020.
Prior Publication US 2023/0211500 A1, Jul. 6, 2023
Int. Cl. G05B 19/23 (2006.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01); G05B 19/404 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1633 (2013.01); B25J 9/1694 (2013.01); B25J 11/005 (2013.01); G05B 19/404 (2013.01); G05B 2219/36349 (2013.01); G05B 2219/39176 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A program generation device comprising:
an acquisition unit that acquires route data indicating a route to be followed by a tip of a robot with respect to a target;
a detection unit that detects a pressing force for pressing the tip of the robot against the target;
a calculation unit that calculates an amount of misalignment of the route to be followed due to deflection of the tip of the robot, based on the pressing force detected by the detection unit and a prescribed constant;
a generation unit that automatically generates a route program for controlling a moving route of the tip of the robot based on the route data acquired by the acquisition unit and the amount of misalignment calculated by the calculation unit; and
a sensing unit that senses the route to be followed by the tip of the robot with respect to the target and outputs the route data, wherein
the generation unit generates a route program that:
takes, as an end point, a coordinate value when a route that is acquired by compensating the route to be followed by the tip of the robot with the amount of misalignment approaches a singular point of the robot, a limit value of each drive axis, or a set prohibited zone;
retracts the tip of the robot from the end point according to a designated route,
automatically generates the route program for controlling the moving route of the tip of the robot based on the route data output from the sensing unit and the amount of misalignment calculated by the calculation unit, and
generates a route program that returns the tip of the robot to the route to be followed that is sensed by the sensing unit, after retracting the tip of the robot from the end point by a prescribed distance.