Design of robot programming software for the systematic reuse of teaching data including environment model

The motion of the robot to realize assembly work includes the part where the reuse of the motion adjusted for the real objects is effective and the part where automatic generation in the simulator is suitable. In order to smoothly teach such assembly work, teaching software that enables to combine previously used motions and perform overall adjustment of the workflow and integrated environment representation in the simulator is expected. Some teaching tools focus on the function of making robot motion in detail, and it assumes that the adjustment of the whole workflow including system layout using the real work environment. For this reason, the environmental expression is not sufficient for the above purpose. Although offline teaching tools and motion planning tools are rich in the representation of the environment, there are not many studies on a systematic reuse mechanism of motions adjusted in a real environment, including environment representations. In this paper, we present software design to solve this problem and the implementation of it as a plugin for Choreonoid. By an experiment, we confirmed that we can describe a comparatively complicated assembly work with the proposed software.