Title:
SIMULATION APPARATUS
Document Type and Number:
Japanese Patent JP3732494
Kind Code:
B
Abstract:
PROBLEM TO BE SOLVED: To provide a simulation apparatus convenient for the evaluation, correction, etc. of a program in a robot system including a visual sensor.
SOLUTION: In the simulation apparatus, a work cell is defined and a robot 1 loaded with an imaging apparatus 2, a workpiece 3, etc. are arranged. A separately set visual volume model 30 is integrated into the simulation apparatus, a tool coordinate system (tool tip point) is defined on a view point 23 and a detection reference point (detection reference coordinate system) relating to the workpiece 3 is set. A graphic jog allows the robot 1 to perform movement so that the tool coordinate system coincides with the detection reference coordinate system. This process is displayed on a screen 1 and an image viewed from the imaging apparatus 2 is displayed. In the case of simulating an operation program by specifying a simulated correction amount by the visual sensor, the display of the visual volume model 30 is turned on/off correspondingly to the output/non-output of an imaging command.
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Inventors:
Watanabe, Atsushi
Nagatsuka, Yoshiharu
Nagatsuka, Yoshiharu
Application Number:
JP2003000372518
Publication Date:
October 21, 2005
Filing Date:
October 31, 2003
Export Citation:
Assignee:
FANUC LTD
International Classes:
B25J9/22; G05B19/4068; B25J9/16; G05B19/4093; G06F19/00; B25J9/22; G05B19/406; B25J9/16; G05B19/4093; G06F19/00; (IPC1-7): G05B19/4068; B25J9/22; G05B19/4093; G06F19/00
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