| 摘要 |
The purpose of the present invention is to realize assembly operation teaching technology that will lighten a burden of teaching work for teaching a dual-arm robot and that includes a component grip change operation which will reduce the time required for teaching as well as the time for the robot to perform operation work. To achieve this purpose, provided is a device for teaching an assembly operation to a robot, the device comprising: a database that stores component information, robot information and information relating to a robot hand or tool required for the assembly of components; an assembly order generation unit that generates the order in which the components are to be assembled; a grip change information generation unit that generates information for changing a hand that grips a component, from one hand to the other, when the component is gripped by the hand and assembled on the basis of the generated assembly order; an operation path generation unit that generates the operation paths of a plurality of arms when the components are assembled by the robot using the component grip change information; and an interference determination unit that determines whether there is interference between the plurality of arms in the operation paths thereof, and whether there is interference between the hand gripping a component and a destination component to which the gripped component is to be attached. The grip change information generation unit is configured such that, as the post-grip-change gripping plane of a component for which a grip change between hands is performed, a plane that includes the normal vector for which the absolute value of the inner product with the normal vector of the pre-grip-change gripping plane is the smallest is selected. |
