Collision avoidance simulation system: A method of displaying a guidance tool for robot routing to avoid collision

摘要

A collision avoidance simulation system according to an embodiment of the present invention includes a six-axis robot arm-the robot arm includes a first link unit, a second link unit, a third link unit, a fourth link unit, a fifth link unit, and a sixth link unit. A link unit, a work unit capable of performing a predetermined operation, a first joint unit coupling the first link unit and the second link unit, a second joint unit coupling the second link unit and the third link unit, A third joint portion coupling the third link portion and the fourth link portion, a fourth joint portion coupling the fourth link portion and the fifth link portion, and a fifth coupling portion of the fifth link portion and the sixth link portion It includes a joint part and a sixth joint part that couples the sixth link part and the working part-The posture of the robot arm when the reference part, which is a part of, moves on an avoidance path that does not collide with an obstacle, which is a predetermined object. A collision avoidance simulation system for calculating an avoidance posture, comprising: an initial point providing unit for providing an initial position, which is a position of the reference unit, and an initial posture, which is a posture of the robot arm when the reference unit is positioned at an initial position; A final point providing unit providing a final position of the reference unit and a final posture of the robot arm when the reference unit is positioned at a final point; When the reference unit is located at a first via point through which the reference unit passes in order to move the reference unit positioned at the initial point to the final point, a first via position that provides a first via position that is the position of the reference unit Provision unit; When the reference unit is located at a second via point through which the reference unit passes after the first via point in order to move to the final point, the second via position, which is the position of the reference unit, is A second via location providing unit to provide; When the first transit posture, which is the posture of the robot arm when the reference part is located at the first transit point based on the first transit position and the second transit point, and the reference part is located at the second transit point A robot arm posture calculation unit that calculates a second posture through which is the posture of the robot arm of; And a display unit that displays at least one of the first transit point and the second transit point, wherein the robot arm posture calculation unit comprises: the first transit position and the reference unit at the first transit point The first transit posture can be calculated based on the rotation angles of the at least three joints at the time.