Robot program modification system
A robot program modification system comprises a robot control apparatus and a program modification apparatus. The robot control apparatus has an information acquisition unit which executes an operation program and acquires robot detection information from a robot, and a communication unit which transmits the robot detection information to the program modification apparatus. The program modification apparatus has a simulation unit which performs simulation on the basis of the operation program, and a program modification unit which modifies the operation program on the basis of the robot detection information so that a result of the simulation satisfies an evaluation basis decided in advance.
1. A robot program modification system, comprising:
a robot control apparatus which controls a motor for driving a robot; and
a program modification apparatus communicating with the robot control apparatus, wherein
the robot control apparatus comprises:
an information acquisition unit configured to
execute an operation program including a command speed and a command acceleration at a teaching point of the robot, and
acquire robot detection information including a speed and a current value of a current of the motor from the robot; and
a first communication unit configured to transmit the robot detection information acquired by the information acquisition unit to the program modification apparatus, and
the program modification apparatus comprises:
a simulation unit configured to perform a simulation of an operation of the robot on the basis of the operation program;
a correction unit configured to, on the basis of the current value included in the robot detection information transmitted by the first communication unit, correct a current value of the current of the motor calculated by the simulation unit to obtain a corrected current value;
a program modification unit configured to modify the operation program on the basis of the robot detection information transmitted by the first communication unit and the corrected current value obtained by the correction unit so that a result of the simulation satisfies an evaluation basis decided in advance while the simulation unit repeatedly performs the simulation; and
a second communication unit configured to transmit a modified operation program modified by the program modification unit to the robot control apparatus,
wherein the correction unit is configured to
obtain at least one correction coefficient, and
use the obtained at least one correction coefficient to correct the current value of the current of the motor calculated by the simulation unit when the simulation is repeated, without further acquiring the current value of the current of the motor from the robot control apparatus.
2. The robot program modification system according to claim 1 , wherein the simulation unit is configured to perform the simulation on the basis of the operation program under a condition that the speed and the current value of the motor included in the robot detection information transmitted by the first communication unit are within a permissible value decided in advance.
3. The robot program modification system according to claim 1 , wherein
the program modification apparatus further comprises a modification evaluation unit configured to
perform a simulation of the operation of the robot on the basis of the modified operation program, and
evaluate effectiveness of the modified operation program from a result of the simulation on the basis of the modified operation program, and
the second communication unit is configured to transmit a result of the evaluation by the modification evaluation unit to the robot control apparatus.
4. The robot program modification system according to claim 1 , wherein
the robot control apparatus further comprises:
an update permission command unit configured to command permission or prohibition of update of the operation program; and
a program update unit configured to update the operation program by the modified operation program transmitted from the second communication unit when the update of the operation program is permitted by the update permission command unit.
5. The robot program modification system according to claim 1 , wherein the program modification unit is configured to modify the operation program so that a cycle time of the operation program becomes shortest.
6. The robot program modification system according to claim 1 , wherein
the program modification apparatus is configured to acquire the operation program from the robot control apparatus via the first communication unit and the second communication unit, and
the simulation unit is configured to perform the simulation on the basis of the acquired operation program.