産業用ロボットオフライン動作点教示支援ユーザインタフェース: 正射影画面生成およびポインティング操作機能の開発と評価

抄録

The complexity of robot programming is an obstructive factor for the introduction of industrial robots to production sites. Human operators have to teach individual motion segments one-by-one to the robots to t their behavior in the work environment, which is one of the most tedious and time-consuming tasks in robot programming. This study elicites user interface requirements to streamline the motion-point teaching by the hierarchical task analysis of off-line robot programming, and proposes UI functions that can meet these requirements. The proposed UI functions consist of the four-view display feature that generates orthographic views suitable for teaching motion points according to the operator’s selection of the reference plane and the pointing-based robot operation feature. As a result of the verification experiment conducted using a Peg-in-Hole assembly task, the four-view display feature demonstrated its effectiveness in making the motion-point teaching much more efficient.