ROBOT PROGRAM GENERATING DEVICE FOR GENERATING ROBOT PROGRAM WHICH REDUCES JERK OF DRIVE SHAFT

Japanese Patent JP2016036895

A

PROBLEM TO BE SOLVED: To provide a robot program generating device for generating a robot program which reduces jerk which may cause generation of vibration.SOLUTION: A robot program generating device 10 includes: a permissible value setting part 11 which sets a permissible value of jerk for a drive shaft of a robot; a shaft information calculation part 12 which simulates execution of a robot program in a virtual space, and correlates a position of the drive shaft and jerk to a time and calculates the same; a jerk determination part 13 which determines whether a calculated jerk is an excess jerk exceeding a permissible value; a shaft information determination part 14 which specifies the drive shaft in which the excess jerk is generated and the position of the drive shaft; and a robot program adjustment part 15 which adjusts a robot program by changing a teaching point near the position of the drive shaft in which the excess jerk is generated so that jerk of the specified drive shaft is equal to or lower than the permissible value.SELECTED DRAWING: Figure 3

OYAMADA MASAHIRO
NAGATSUKA YOSHIHARU
RYO ENGAKU
TAKEDA TOSHIYA

JP2014163796A

March 22, 2016

August 11, 2014

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FANUC LTD

B25J9/22

JP2007136671A	2007-06-07
JP2008178934A	2008-08-07
JP2009043165A	2009-02-26
JP2014014876A	2014-01-30
JP2014024162A	2014-02-06
JPH02304601A	1990-12-18
JP2012232410A	2012-11-29
JP2010137292A	2010-06-24
JP2007136671A	2007-06-07
JP2008178934A	2008-08-07
JP2009043165A	2009-02-26

Atsushi Aoki
Tetsuro Shimada
Shinji Mitsuhashi
Masahiro Tahara
Hirose Shigeki
Kazuo Maejima

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