| 摘要 |
<p><P>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. <P>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. <P>COPYRIGHT: (C)2005,JPO&NCIPI</p> |
