US Patent No. 9,610,688

ROBOT PROGRAM GENERATION APPARATUS GENERATING ROBOT PROGRAM FOR REDUCING JERKS OF JOINTS OF ROBOT


Patent No. 9,610,688
Issue Date April 04, 2017
Title Robot Program Generation Apparatus Generating Robot Program For Reducing Jerks Of Joints Of Robot
Inventorship Masahiro Oyamada, Yamanashi (JP)
Yoshiharu Nagatsuka, Yamanashi (JP)
Yanxue Liang, Yamanashi (JP)
Toshiya Takeda, Yamanashi (JP)
Assignee FANUC CORPORATION, Yamanashi (JP)

Claim of US Patent No. 9,610,688

1. A robot program generation apparatus configured to generate a robot program for operating a robot including a plurality
of joints, the robot program generation apparatus comprising:
an allowable jerk value setting unit configured to set allowable jerk values to the joints of the robot;
a joint information calculation unit configured to simulate execution of a robot program in a virtual space and calculate
positions and jerks of the joints in association with time;

a jerk check unit configured to determine whether or not the jerks calculated by the joint information calculation unit are
excess jerks which exceed the allowable values;

a joint information identification unit configured to identify joints and positions of the joints in which the excess jerks
are generated; and

a robot program adjustment unit configured to adjust the robot program by modifying a teaching position within the neighborhood
of the positions of the joints in which the excess jerks are generated so that the jerks of the joints identified by the joint
information identification unit become equal to or smaller than the allowable values.