Robot program modification device, robot control device, robot simulation device, and robot program modification method
A robot program modification device including a program storage unit that stores an operation program for a robot, a program execution unit that executes the stored operation program, a stop position estimation unit that estimates, at each operation position of the robot during execution of the operation program, a stop position of the robot in a case of cutoff of power, based on a movement speed of the robot, a stop position determination unit that determines whether the estimated stop position is in a predetermined region or not, and a speed modification unit that modifies, in a case where the stop position is determined to be outside the region, a set speed in the operation program such that a movement speed at the operation position corresponding to the stop position is reduced.
1. A robot control device, wherein the robot control device is configured to:
store an operation program for a robot;
execute the stored operation program;
estimate, at each operation position of the robot during execution of the operation program, a stop position of the robot in a case of cutoff of power, based on a movement speed of the robot;
determine whether the estimated stop position is in a predetermined region or not; and
modify, in a case where the stop position is determined to be outside the region, a set speed in the operation program such that a movement speed at the operation position corresponding to the stop position is reduced;
perform a stop operation in which an alarm is issued and power to the robot is cut off in a case where the stop position is determined to be outside the region; and
switch the stop operation to invalid at a time of execution of the operation program for modification of the set speed.
2. The robot control device according to claim 1 , wherein the robot control device is configured to perform switching such that the operation program is executed in a state where the robot is stopped, at a time of execution of the operation program for modification of the set speed.
3. A robot control method comprising:
executing an operation program for a robot created and stored in advance;
estimating, at each operation position of the robot during execution of the operation program, a stop position of the robot in a case of cutoff of power, based on a movement speed of the robot;
determining whether the estimated stop position is in a predetermined region or not;
in a case where the stop position is determined to be outside the region, modifying a set speed in the operation program such that a movement speed at the operation position corresponding to the stop position is reduced;
in a case where the stop position is determined to be outside the region, performing a stop operation in which an alarm is issued and power to the robot is cut off; and
switching the stop operation to invalid at a time of execution of the operation program for modification of the set speed.