Teaching program generation device
To generate a correct path for a robot to perform a certain action while avoiding interference. The teaching program generation device generates a teaching program for teaching a robot a predetermined action, based on information about the robot and its surroundings. The device includes an acquisition unit that acquires, from a robot controller that controls driving of the robot, information to be used for the robot to perform the predetermined action while avoiding interference, and a teaching program generation unit that generates a movement path for the robot to perform the predetermined action while avoiding interference, based on the information.
1 . A portable terminal comprising:
a camera configured to capture an image of a robot, to which a marker is attached, and surroundings of the robot;
a processor configured to:
acquire, from a robot controller that controls driving of the robot, information indicating a type of the robot and information indicating a type of a tool replaceably attached to the robot;
based on the image captured by the camera, the information indicating the type of the robot, and the information indicating the type of the tool replaceably attached to the robot, calculate positional relationships, on a three-dimensional coordinate system that is based on the marker, between the robot and one or more objects present in the surroundings of the robot; and
based on a result of the calculation, generate a program that causes the robot to perform a predetermined action to avoid interference between the robot and the one or more objects;
a communication interface configured to send the program to the robot controller;
a recording medium that stores respective three-dimensional models of multiple types of robots and respective three-dimensional models of multiple types of tools that can be replaceably attached to the robot; and
a display configured to:
read out, from the recording medium, a three-dimensional model of the robot, based on the type of the robot, and a three-dimensional model of the tool based on the type of the tool; and
display the three-dimensional model of the robot and the three-dimensional model of the tool that are read out, wherein
the display is configured to change, based on the information indicating the type of the robot and the information indicating the type of the tool replaceably attached to the robot, a graphical user interface that allows input of one or more operation instructions from an operator to make the robot execute the predetermined action.
2 . The portable terminal according to claim 1 , wherein the information indicating the type of the tool replaceably attached to the robot includes information about one or more of a shape, a size, and an inertia of the tool replaceably attached to the robot.
3 . The portable terminal according to claim 1 , wherein the processor is further configured to acquire information about at least one of an orientation and a position of the robot when the robot starts the predetermined action.