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NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM, ROBOT TRANSFER TIME ESTIMATION METHOD, AND ROBOT TRANSFER TIME ESTIMATION DEVICE
NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM, ROBOT TRANSFER TIME ESTIMATION METHOD, AND ROBOT TRANSFER TIME ESTIMATION DEVICE
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机译:非暂态计算机可读存储介质,机器人传输时间估计方法和机器人传输时间估计设备
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摘要
Provided is a non-transitory computer-readable storage medium storing a program for causing a computer to execute a process, the process including: acquiring transfer times of straight transfer paths for a hand of a vertical articulated robot having at least four controlled axes; calculating a vector of each of the straight transfer paths; comparing a direction of a vector of a target path for which a transfer time is to be estimated with a direction of the vector of each of the straight transfer paths, and identifying, among the straight transfer paths, a transfer path most similar in vector direction to the target path; and estimating a transfer time of the target path, in accordance with a scalar quantity of a vector of an identified transfer path, a scalar quantity of the vector of the target path, and a transfer time of the identified transfer path.
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