Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1990-05-30
1991-09-24
Ip, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
31856810, 364513, 364191, 901 16, 901 17, G05B 1942
Patent
active
050516760
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
1. Technical Field
The present invention relates to robot programming, and more particularly, to a method of checking quality of an edit program created by editing a robot program.
2. Background Art
It is conventionally known to create an operation program for robot control by performing teaching, namely, by operating a teaching pendant in such a manner that a tool mounted to a robot arm is located at a desired position on a predetermined moving path and assumes a desired orientation, and that desired construct elements (instruction statement, etc.) of programming language are inputted into a controller of the robot. In this case, the controller automatically creates an operation program on the basis of joint angles detected by internal measuring sensors and language construct elements manually inputted through the teaching pendant. Another method is also known, in which an operation program is created offline by using a computer other than the controller of the robot.
The operation program thus prepared is subjected to edition, where required. In the program edition, an operator modifies target tool position and orientation, for instance, in accordance with a format suitable for a robot to which the edit program is to be applied. More specifically, the operator operates a keyboard to sequentially inputs character columns, etc., which respectively correspond to desired data and desired language construct elements. During this keyboard entry, various inputs errors are liable to occur in addition to simple errors in operating the keyboard. Particularly, when plural types of controllers are combined with plural types of robot bodies in various manners to produce various robots, wherein a movable range of a movable section such as a tool of each robot (hereinafter referred to as the movable range of the robot body) varies depending upon the type of the robot body and the format to be applied to a controller also varies depending upon the type of the controller, an operator often misunderstands the types of the robot body and controller of a robot to which an edit program is to be applied. In such a case, position data falling outside the movable range of the robot body may be erroneously inputted, or a format unsuitable for the controller may be erroneously employed. Usually, however, the aforementioned errors in editing a program are found only after the robot is actually operated. This requires labor correcting the robot program.
SUMMARY OF THE INVENTION
An object of the present invention is to provide a robot program checking method which permits accurate and rapid edition of a robot program.
In order to achieve the above-mentioned object, a robot program checking method of the present invention includes the steps of: (a) storing beforehand a format suitable for a controller; (b) storing beforehand a movable range of an operating section of a robot body; (c) reading out an edit program; (d) determining whether or not the thus read edit program is stated in accordance with a format suitable for a controller of a robot to which the edit program is to be applied; (e) when the read block contains data indicative of a target operating position of an operating section of a robot body, determining whether or not the data falls within a movable range of an operating section of a robot body of the robot to which the edit program is to be applied; and (f) generating an alarm when either one of results of the determination in the steps (d) and (e) indicate the format of the edit program is not suitable for the controller to which the edit program is to be applied, or the position data contained in the edit program falls outside the movable range of the robot body. Accordingly, an error in editing the program can be found without the need of actually operating the robot, so that the edit program can be accurately and rapidly prepared.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a flowchart showing a robot program checking method according to an embodiment of the present invention;
FIG
REFERENCES:
patent: 4379335 (1983-04-01), Kirsch et al.
patent: 4511985 (1985-04-01), Inaba et al.
patent: 4887222 (1989-12-01), Miyake et al.
Arakaki Takeshi
Seki Masaki
Fanuc Ltd.
Ip Paul
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