バーチャルリアリティ技術を応用したオフラインロボットティーチング(J20-2 デジタルエンジニアリングによる製品開発革新(2),J20 デジタルエンジニアリングによる製品開発革新)

Abstract

In order to use robots in manufacturing processes such as welding and assembling, it is necessary to create operation programs for robots to accomplish the desired movements. Generally, robots are directly taught moving paths on the actual production line. Although this method can be carried out sensorially, it requires the line to be stopped during the teaching process. Another method available called off-line teaching generates teaching data on a computer. It is able to shorten the time of stopping the production line, but is difficult to apply in virtual space due to the need to input coordinate values on the screen and control the robot using a mouse. In this study, a robot teaching system using Virtual Reality devices, which enables operators to perform intuitive 3D-operations of robots in virtual space, was developed to overcome the drawbacks of current robot teaching methods. The system has a function which provides the best sequence for performing spot welding using the Genetic Algorithm(GA).