SIMULATION DEVICE, ROBOT, SIMULATION METHOD, AND PROGRAM THEREOF

PROBLEM TO BE SOLVED: To provide a simulation technology for easily and accurately simulating a holding operation of a device that holds a workpiece.SOLUTION: A motion command value calculation unit 130 calculates an operation command value of a pick-and-place device which is an object of simulation...

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Bibliographic Details
Main Authors TSUTSUMI YUMI, ABE MASAYOSHI, KARAKO YUKIHISA, MORIYA TOSHIHIRO
Format Patent
LanguageEnglish
Japanese
Published 05.07.2018
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:PROBLEM TO BE SOLVED: To provide a simulation technology for easily and accurately simulating a holding operation of a device that holds a workpiece.SOLUTION: A motion command value calculation unit 130 calculates an operation command value of a pick-and-place device which is an object of simulation. A dynamics calculation unit 160 calculates a device operation taking into account dynamics and the operation command value output from the motion command value calculation unit 130. A suction success/failure calculation unit 170 determines whether the suction of a workpiece by a suction pad has been successful on the basis of a device operation taking into account dynamics. A 3D display 190 displays, on a display such as a liquid crystal panel, a 3D image of a device operation taking into account dynamics.SELECTED DRAWING: Figure 2 【課題】ワークを保持する装置の保持動作を、容易、かつ、精度良くシミュレートするためのシミュレーション技術を提供する。【解決手段】モーション指令値計算部１３０は、シミュレーション対象となるピックアンドプレース装置の動作指令値を算出する。ダイナミクス計算部１６０は、モーション指令値計算部１３０から出力される動作指令値と、ダイナミクスを考慮した装置動作を算出する。吸着成否計算部１７０は、ダイナミクスを考慮した装置動作に基づき、吸着パッドによるワーク吸着の成否を判定する。３Ｄ表示部１９０は、ダイナミクスを考慮した装置動作の３Ｄ画像を、液晶パネルなどの表示部に表示する。【選択図】図２
Bibliography:Application Number: JP20160255408